WO2015123966A1

WO2015123966A1 - Wireless access service method and device

Info

Publication number: WO2015123966A1
Application number: PCT/CN2014/083132
Authority: WO
Inventors: 李英涛; 董明杰
Original assignee: 华为技术有限公司
Priority date: 2014-02-19
Filing date: 2014-07-28
Publication date: 2015-08-27
Also published as: JP6514224B2; US10123220B2; KR101886771B1; CN104853402B; CN104853402A; JP2017512012A; EP3101818B1; US20160360429A1; KR20160120763A; EP3101818A1; EP3435698A1; EP3435698B1; EP3435698A8; EP3101818A4

Abstract

The embodiments of the present invention provide a wireless access service method and device. The wireless access device detects whether the quality of a first wireless access link meets communication quality requirements of a single mobile terminal. If the wireless access device determines that the quality of the first wireless access link does not meet the communication quality requirements of the single mobile terminal, the wireless access device begins to move from the current position. During the movement, the wireless access device detects whether a second wireless access link meets the communication quality requirements of the single mobile terminal; if yes, the movement is stopped; else, the movement continues. The quality of the wireless access link is improved by the movement of the wireless access device, thereby satisfying the communication quality requirements of a single mobile terminal.

Description

Wireless access service method and device

Technical field

The embodiments of the present invention relate to communication technologies, and in particular, to a wireless access service method and device.

BACKGROUND In an existing wireless communication system, a mobile terminal accesses a network through a wireless access device. Since the mobile terminal has mobility, when the mobile terminal moves to a different location, the wireless between the mobile terminal and the wireless access device The quality of the access link may be different. For example, if the mobile terminal is far away from the wireless access device, the quality of the wireless access link may be degraded, and the existing wireless access device is often fixedly placed at a specific location. Therefore, when the mobile terminal is away from the wireless access device due to reasons such as mobile, the communication quality requirement of the mobile terminal cannot be satisfied.

SUMMARY OF THE INVENTION Embodiments of the present invention provide a wireless access service method and device to meet communication quality requirements of a mobile terminal.

A first aspect of the embodiments of the present invention provides a wireless access service method, including:

The wireless access device detects whether the quality of the first wireless access link meets the communication quality requirement of the single mobile terminal, where the first wireless access link is between the current location and the mobile terminal Wireless access link;

When the radio access device determines that the quality of the first radio access link does not meet the communication quality requirement of the single mobile terminal, the radio access device starts to move;

During the moving of the wireless access device, the wireless access device detects whether the quality of the second wireless access link meets the communication quality requirement of the single mobile terminal, and the second wireless access link is Determining, by the wireless access device, a wireless access link between the mobile terminal and the mobile terminal;

When the quality of the second radio access link meets the communication quality requirement of the single mobile terminal, the radio access device stops moving;

When the quality of the second radio access link does not satisfy the communication quality requirement of the single mobile terminal, the radio access device continues to move.

With reference to the first aspect, in a first possible implementation manner, the communication of the single mobile terminal The quality requirement is that the received signal strength of the mobile terminal indicates that the RSSI is not lower than the RSSI threshold; or the access rate of the mobile terminal is not lower than the access rate threshold; or the access bandwidth of the mobile terminal is not lower than Access bandwidth threshold.

With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner, the communication quality requirement of the single mobile terminal is that the received signal strength indication RSSI of the mobile terminal is not lower than an RSSI threshold, including :

The RSSI under the current service type of the mobile terminal is not lower than the RSSI threshold required by the current service type;

The access rate of the mobile terminal is not lower than an access rate threshold, and includes:

The access rate of the current service type of the mobile terminal is not lower than the access rate threshold required by the current service type;

The access bandwidth of the mobile terminal is not lower than an access bandwidth threshold, and includes:

The access bandwidth of the current service type of the mobile terminal is not lower than the access bandwidth threshold required by the current service type.

With reference to the first aspect, in a third possible implementation manner, when the wireless access device is in a mobile process, the wireless access device detects whether the quality of the second wireless access link meets the single mobile terminal Communication quality requirements, including:

The wireless access device sets a periodic detection timer during the mobile process, and when the timer expires, starts to detect whether the quality of the second wireless access link meets the communication quality of the single mobile terminal. demand.

With reference to the first aspect, the first to the third possible implementation manners, in a fourth possible implementation manner, when the wireless access device determines the first wireless access link When the quality does not meet the communication quality requirement of the single mobile terminal, the wireless access device starts to move, including:

When the radio access device determines that the quality of the first radio access link does not meet the communication quality requirement of the single mobile terminal, the radio access device according to the parameter of the first radio access link Determining a first target direction, the wireless access device begins to move in the first target direction.

With reference to the fourth possible implementation manner, in a fifth possible implementation, the determining, by the wireless access device, the first target direction according to the parameter of the first wireless access link includes:

Obtaining, by the wireless access device, the mobile terminal according to parameters of the first wireless access link Relative to the direction of the wireless access device;

The wireless access device determines that the direction of the mobile terminal relative to the wireless access device is a first target direction.

With reference to the fourth possible implementation manner, in a sixth possible implementation, the determining, by the wireless access device, the first target direction according to the parameter of the first wireless access link includes:

The wireless access device determines a first target direction according to a direction in which the mobile terminal accesses an antenna beam of the wireless access device.

With reference to the fourth possible implementation, in a seventh possible implementation, the determining, by the wireless access device, the first target direction according to the parameter of the first wireless access link includes:

Determining, by the wireless access device, a direction of the mobile terminal relative to the wireless access device according to an angle of arrival of two antennas in the antenna array of the mobile terminal to the wireless access device;

With reference to the first aspect, in an eighth possible implementation manner, when the quality of the second radio access link does not meet the communication quality requirement of the single mobile terminal, the radio access device continues to move, including:

Determining, by the wireless access device, a second target direction according to parameters of the second radio access link;

The wireless access device moves in the second target direction.

With reference to the eighth possible implementation, in a ninth possible implementation, the determining, by the wireless access device, the second target direction according to the parameter of the second wireless access link includes:

Obtaining, by the wireless access device, a direction of the mobile terminal relative to the wireless access device according to a parameter of the second wireless access link;

The wireless access device determines that the direction of the mobile terminal relative to the wireless access device is a second target direction.

With reference to the eighth possible implementation manner, in a tenth possible implementation, the determining, by the wireless access device, the second target direction according to the parameter of the second wireless access link includes:

The wireless access device determines the second target direction according to a direction in which the mobile terminal accesses an antenna beam of the wireless access device.

With reference to the eighth possible implementation manner, in an eleventh possible implementation manner, the wireless Determining, by the access device, the second target direction according to the parameter of the second radio access link, including: the radio access device according to the two antennas in the antenna array of the mobile terminal to the radio access device An angle of arrival determines a direction of the mobile terminal relative to the wireless access device;

With reference to the eighth possible implementation, in a twelfth possible implementation manner, before the determining, by the radio access device, the second target direction according to the parameter of the second radio access link, the method further includes: The wireless access device determines whether the number of times the latter detection result is different from the previous detection result is greater than or equal to a threshold value, and if the network access device determines the quality of the second radio access link The parameter of the second wireless access link determines a second target direction; if not, the wireless access device continues to move along the first target direction.

With reference to any one of the fourth to seventh possible implementation manners, in a thirteenth possible implementation manner, the wireless access device determines a first target direction according to a parameter of the first wireless access link After the wireless access device starts moving in the first target direction, the method further includes: the wireless access device sensing, by the sensor, the obstacle in the environment where the wireless access device and the mobile terminal are located Information, constructing, according to the obstacle information perceived by the sensor, the environment in which the wireless access device and the mobile terminal are located;

The wireless access device adjusts the first target direction according to an environment in which the wireless access device and the mobile terminal are located.

With reference to any one of the eighth to the twelfth possible implementation manners, in the fourteenth possible implementation manner, the radio access device determines the second target according to the parameter of the second radio access link After the direction, before the wireless access device moves in the second target direction, the method further includes:

The wireless access device uses a sensor to sense the wireless access device and obstacle information in an environment in which the mobile terminal is located, and constructs the wireless access device and the mobile according to the obstacle information sensed by the sensor. The environment in which the terminal is located;

The wireless access device adjusts the second target direction according to an environment in which the wireless access device and the mobile terminal are located.

A second aspect of the embodiments of the present invention provides a wireless access service method, including:

The wireless access device detects whether the quality of the first group of radio access links meets the communication quality requirement of the mobile terminal set, and the first group of radio access links includes R first radio access links, The first wireless access link is a wireless access link between the current location and any one of the R mobile terminals of the wireless access device, where the R mobile terminals access the wireless connection R mobile terminals in the M mobile terminals of the device, M≥l, \<R≤M;

When the wireless access device determines that the quality of the first group of wireless access links does not meet the communication quality requirement of the mobile terminal set, the wireless access device moves from the current location to the target location, and the wireless access device When the target location is moved, the quality of the second set of radio access links meets the communication quality requirement of the set of mobile terminals, where the second set of radio access links includes R second radio access chains The second wireless access link is a wireless access link of the wireless access device between the target location and any one of the R mobile terminals.

With reference to the second aspect, in a first possible implementation manner, the communication quality requirement of the mobile terminal set is that each of the predetermined number or all of the R mobile terminals meets communication of a single mobile terminal. a quality requirement, where the communication quality requirement of the single mobile terminal is that the received signal strength indication of the mobile terminal is not lower than the RSSI threshold, or the access rate of the mobile terminal is not lower than the access rate threshold, or The access bandwidth of the mobile terminal is not lower than an access bandwidth threshold.

With reference to the second aspect or the first possible implementation manner, in the second possible implementation manner, before the wireless access device moves from the current location to the target location, the method further includes:

The wireless access device determines the target location according to parameters of the R first wireless access links.

With reference to the second possible implementation manner, in a third possible implementation, the determining, by the wireless access device, the target location according to the parameters of the R first wireless access links, including: the wireless Obtaining, by the access device, location information of the R mobile terminals with respect to the wireless access device according to the parameters of the R first radio access links;

The wireless access device determines the target location according to location information of the R mobile terminals with respect to the wireless access device.

With reference to the third possible implementation manner, in a fourth possible implementation manner, the radio access device acquires, according to the parameters of the R first radio access links, the R mobile terminals respectively Location information of the wireless access device, including:

Determining, by the radio access device, a direction of the R mobile terminals respectively relative to the radio access device according to a direction in which the R mobile terminals respectively access the antenna beam of the radio access device; Determining, by the wireless access device, a distance of the R mobile terminals from the wireless access device according to an arrival time TOA;

And determining, by the wireless access device, location information of the R mobile terminals relative to the wireless access device according to the direction and the distance.

With reference to the third possible implementation manner, in a fifth possible implementation manner, the radio access device acquires, according to the parameters of the R first radio access links, the R mobile terminals respectively Location information of the wireless access device, including:

And determining, by the wireless access device, a direction and a distance of the R mobile terminals from the wireless access device according to an arrival angle of the two mobile terminals to the two antennas in the antenna array.

With reference to the second aspect, the first to the fifth possible implementation manners, in a sixth possible implementation manner, when the radio access device determines the quality of the first group of radio access links The communication quality requirement of the mobile terminal set is not satisfied, and the wireless access device moves from the current location to the target location, including:

Determining, by the radio access device, whether the quality of the first group of radio access links meets the communication quality requirement of the set of mobile terminals, where N is an integer greater than or equal to 1;

When the most recent first N times detecting that the quality of the first group of radio access links does not meet the communication quality requirement of the mobile terminal set, the wireless access device triggers the wireless access device from the current The position moves to the target position.

With reference to any one of the second to the sixth possible implementation manners, in a seventh possible implementation, the radio access device determines the target according to the parameters of the R first radio access links After the location, it also includes:

The wireless access device adjusts the target location according to an environment in which the wireless access device and the R mobile terminals are located, to obtain an adjusted target location;

The wireless access device moves from the current location to the target location, including:

The wireless access device moves from a current location to an adjusted target location.

With reference to the seventh possible implementation manner, in an eighth possible implementation manner, the wireless access device adjusts the target location according to an environment in which the wireless access device and the R mobile terminals are located, and obtains Before the adjusted target position, it also includes: The wireless access device uses the sensor to perceive the obstacle information in the environment in which the wireless access device and the R mobile terminals are located, and constructs the wireless access device and the device according to the obstacle information sensed by the sensor. The environment in which the R mobile terminals are located.

With reference to the second aspect, the first to the sixth possible implementation manner, in a ninth possible implementation manner, after the wireless access device is moved from the current location to the target location, the method further includes: Receiving, by the wireless access device, a comparison result between a quality of the second group of radio access links fed back by the radio access device and a quality of the first group of radio access links;

The wireless access device determines a target location for the next move based on the comparison result and parameters of the second wireless access link.

With reference to any one of the second to sixth possible implementation manners, in a tenth possible implementation, the radio access device determines the target according to the parameters of the R first radio access links After the location, it also includes:

After the wireless access device performs local simulation to verify that the wireless access device moves to the target location, whether the second group of wireless access links meets the communication quality requirement of the mobile terminal set; The wireless access device determines that the quality of the first group of wireless access links does not meet the communication quality requirement of the mobile terminal set, and the wireless access device moves from the current location to the target location, including:

And when the wireless access device determines that the local simulation result is that the second group of wireless access links meets the communication quality requirement of the mobile terminal set, the wireless access device moves from the current location to the target location.

A third aspect of the embodiments of the present invention provides a wireless access service method, including:

The remote control center detects whether the quality of the first group of radio access links meets the communication quality requirement of the mobile terminal set, and the first group of radio access links includes R first radio access links, where the first The wireless access link is a wireless access link between the current location and any one of the R mobile terminals of the wireless access device, where the R mobile terminals access the wireless access device R mobile terminals in M mobile terminals, M ≥ l, \ < R ≤ M;

When the remote control center determines that the quality of the first group of radio access links does not meet the communication quality requirement of the mobile terminal set, the remote control center triggers the wireless access device to move from the current location to the target location. When the wireless access device moves to the target location, the quality of the second set of wireless access links meets the communication quality requirement of the set of mobile terminals, where the second group The wireless access link includes R second wireless access links, and the second wireless access link is a wireless connection between the target location and any one of the R mobile terminals Access link.

A fourth aspect of the embodiments of the present invention provides a wireless access service device, where the wireless access service device is a wireless access device, and includes:

a first detecting module, configured to detect whether a quality of the first wireless access link meets a communication quality requirement of a single mobile terminal, where the first wireless access link is the current location and the mobile a wireless access link between terminals;

a first control module, configured to: when the radio access device determines that the quality of the first radio access link does not meet the communication quality requirement of the single mobile terminal, control the radio access device to start moving;

a second detecting module, configured to: when the wireless access device moves, detecting whether a quality of the second wireless access link meets a communication quality requirement of the single mobile terminal, where the second wireless access link is a wireless access link between the location of the wireless access device and the mobile terminal after the mobile device;

a second control module, configured to: when the quality of the second wireless access link meets a communication quality requirement of the single mobile terminal, control the wireless access device to stop moving; when the second wireless access link When the quality of the path does not satisfy the communication quality requirement of the single mobile terminal, the wireless access device is controlled to continue to move.

With reference to the fourth aspect, in a first possible implementation, the second detecting module is specifically configured to: when the wireless access device moves, set a periodic detection timer, and when the timer expires, start It is detected whether the quality of the second wireless access link meets the communication quality requirement of a single mobile terminal.

With reference to the fourth aspect or the first possible implementation manner, in a second possible implementation manner, the first control module is specifically configured to: when the first detection module determines the first wireless access link When the quality does not meet the communication quality requirement of the single mobile terminal, the wireless access device determines a first target direction according to the parameter of the first wireless access link, and the wireless access device follows the first target The direction begins to move.

With reference to the second possible implementation manner, in a third possible implementation manner, the first control module is specifically configured to control, by the wireless access device, the parameter according to the first wireless access link And taking the direction of the mobile terminal relative to the wireless access device; the wireless access device determines that the direction of the mobile terminal relative to the wireless access device is a first target direction.

With reference to the second possible implementation manner, in a fourth possible implementation manner, the first control module is specifically configured to control, by the wireless access device, an antenna that accesses the wireless access device according to the mobile terminal The direction of the beam determines the first target direction.

With reference to the second possible implementation manner, in a fifth possible implementation, the first control module is specifically configured to control an antenna array of the wireless access device according to the mobile terminal to the wireless access device An angle of arrival of the two antennas determines a direction of the mobile terminal relative to the wireless access device; the wireless access device determines a direction of the mobile terminal relative to the wireless access device as a first target direction.

With reference to the fourth aspect, in a sixth possible implementation, the second control module is specifically configured to control the wireless access device to determine a second target direction according to a parameter of the second wireless access link; The wireless access device moves in the second target direction.

With reference to the sixth possible implementation, in a seventh possible implementation, the second control module is specifically configured to control, by the wireless access device, the acquiring according to the parameter of the second wireless access link. a direction of the mobile terminal relative to the wireless access device; the wireless access device determines a direction of the mobile terminal relative to the wireless access device as a second target direction.

With reference to the sixth possible implementation manner, in an eighth possible implementation, the second control module is specifically configured to control, by the wireless access device, the antenna of the wireless access device according to the mobile terminal The direction of the beam determines the second target direction.

With reference to the sixth possible implementation manner, in a ninth possible implementation manner, the second control module is specifically configured to control, according to the mobile terminal, an antenna array from the mobile terminal to the wireless access device An angle of arrival of the two antennas determines a direction of the mobile terminal relative to the wireless access device; the wireless access device determines a direction of the mobile terminal relative to the wireless access device as a second target direction.

With reference to the sixth possible implementation, in a tenth possible implementation manner, the second control module is further configured by the second detection module to determine that the second radio access link is detected by the N times. In the quality result, whether the number of times the latter detection result is different from the previous detection result is greater than or equal to the threshold, and if so, the wireless access device determines the second target direction according to the parameter of the second wireless access link; The wireless access device continues to move along the first target direction. In combination with the second to fifth possible implementation manners, in the eleventh possible implementation manner, the first control module is further configured to control the wireless access device to use the sensor to sense the wireless connection Obstagging information in the environment in which the device and the mobile terminal are located, constructing the environment in which the wireless access device and the mobile terminal are located according to the obstacle information perceived by the sensor; the wireless access device according to the environment The wireless access device and an environment in which the mobile terminal is located adjust the first target direction.

With reference to any one of the sixth to the tenth possible implementation manners, in a twelfth possible implementation, the second control module is further configured to control the wireless access device to use the sensor to sense the wireless connection Obstagging information in the environment in which the device and the mobile terminal are located, constructing the environment in which the wireless access device and the mobile terminal are located according to the obstacle information perceived by the sensor; the wireless access device according to the environment The wireless access device and an environment in which the mobile terminal is located adjust the second target direction.

A fifth aspect of the embodiments of the present invention provides a wireless access service device, where the wireless access service device is a wireless access device, and includes:

a detecting module, configured to detect whether a quality of the first group of radio access links meets a communication quality requirement of the mobile terminal set, where the first group of radio access links includes R first radio access links, where a wireless access link is a wireless access link between the current location and any one of the R mobile terminals of the wireless access device, where the R mobile terminals access the wireless R mobile terminals among M mobile terminals of the access device, M≥l, \<R≤M;

a control module, configured to: when the detecting module determines that the quality of the first group of radio access links does not meet the communication quality requirement of the mobile terminal set, the wireless access device moves from the current location to the target location, where the wireless When the access device moves to the target location, the quality of the second group of radio access links meets the communication quality requirement of the set of mobile terminals, where the second group of radio access links includes R pieces of second wireless An access link, where the second wireless access link is a wireless access link between the target location and any one of the R mobile terminals.

With reference to the fifth aspect, in a first possible implementation, the device further includes: a path planning module, configured to: before the control module triggers the wireless access device to move from a current location to a target location, according to the The parameters of the R first radio access links determine the target location.

With reference to the first possible implementation manner, in a second possible implementation manner, the path planning module is specifically configured to acquire, according to the parameters of the R first radio access links, the R mobile terminals. Location information relative to the wireless access device, respectively;

Determining the target location based on location information of the R mobile terminals with respect to the wireless access device.

With reference to the second possible implementation manner, in a third possible implementation, the path planning module is specifically configured to determine, according to a direction in which the R mobile terminals respectively access the antenna beam of the wireless access device a direction in which the R mobile terminals are respectively opposed to the wireless access device; determining a distance of the R mobile terminals from the wireless access device according to an arrival time TOA; determining the R mobile terminals according to the direction and the distance Relative to the location information of the wireless access device.

With reference to the second possible implementation manner, in a fourth possible implementation manner, the path planning module is specifically configured to determine, according to an arrival angle of the two antennas of the R mobile terminals to the antenna array respectively The direction and distance of the R mobile terminals with respect to the wireless access device, respectively.

With reference to the fifth aspect, the first to the fourth possible implementation manners, in the fifth possible implementation manner, the control module is specifically configured to determine the first and last times of detecting the first group of radio access links Whether the quality meets the communication quality requirement of the set of mobile terminals, where N is an integer greater than or equal to 1; when the most recent first N times detects that the quality of the first set of wireless access links is not satisfied When the communication quality requirement of the mobile terminal set is described, the wireless access device is controlled to move from the current location to the target location.

With reference to the first to fifth possible implementation manners, in a sixth possible implementation, the path planning module is further configured to determine the target location according to parameters of the R first wireless access links Then, adjusting the target location according to an environment in which the wireless access device and the R mobile terminals are located, to obtain an adjusted target location;

The control module is specifically configured to trigger the wireless access device to move from a current location to an adjusted target location.

With reference to the sixth possible implementation, in a seventh possible implementation, the path planning module is further configured to adjust the target according to an environment in which the wireless access device and the R mobile terminals are located Positioning, before obtaining the adjusted target position, using sensors to perceive the obstacle information in the environment in which the wireless access device and the R mobile terminals are located, and constructing the wireless connection according to the obstacle information sensed by the sensor The environment in which the device and the R mobile terminals are located.

With reference to the fifth aspect, the first to the fifth possible implementation manner, in the eighth possible implementation, the path planning module is further configured to trigger the wireless access device to move from the current location to the destination After comparing the target location, receiving a comparison result between the quality of the second group of radio access links fed back by the radio access device and the quality of the first group of radio access links; according to the comparison result and the second radio connection Enter the parameters of the link to determine the target location for the next move.

With reference to the first to fifth possible implementation manners, in the ninth possible implementation manner, the control module is further used by the path planning module to determine, according to parameters of the R first radio access links After the target location, after the local simulation verifies that the wireless access device moves to the target location, whether the second group of wireless access links meets the communication quality requirement of the mobile terminal set; the control module Specifically, when determining that the local simulation result is that the second group of radio access links meet the communication quality requirement of the mobile terminal set, triggering the wireless access device to move from the current location to the target location.

A sixth aspect of the present invention provides a radio access service device, where the radio access service device is a remote control center, and includes:

a detecting module, configured to detect whether a quality of the first group of radio access links meets a communication quality requirement of the mobile terminal set, where the first group of radio access links includes R first radio access links, where A wireless access link is a wireless access link between a current location and any one of the R mobile terminals of the wireless access device, where the R mobile terminals access the wireless access R mobile terminals among M mobile terminals of the device, M≥l, \ < R≤M;

a control module, configured to determine that the quality of the first group of radio access links does not meet the communication quality requirement of the mobile terminal set, where the remote control center triggers the wireless access device to move from the current location to the target location, where When the wireless access device moves to the target location, the quality of the second group of radio access links meets the communication quality requirement of the set of mobile terminals, where the second group of radio access links includes R strips And a second wireless access link, where the second wireless access link is a wireless access link between the target location and any one of the R mobile terminals. The wireless access service method and device provided by the embodiment of the present invention, the wireless access device detects whether the quality of the first wireless access link meets the communication quality requirement of a single mobile terminal, and if the wireless access device determines the first wireless access If the quality of the link does not meet the communication quality requirement of the single mobile terminal, the wireless access device starts to move from the current location. During the mobile process, it can detect whether the second wireless link meets the communication quality requirement of the single mobile terminal, and if so, Then the mobile is stopped, and if it is not satisfied, the mobile is continued, that is, the quality of the wireless access link is improved by the mobile access device to meet the communication quality requirement of the single mobile terminal. DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is an architectural diagram of a system 1 of the present invention;

2 is an architectural diagram of a system 2 of the present invention;

3 is a schematic flowchart of Embodiment 1 of a method for wireless access service according to the present invention;

4 is a schematic diagram of a directional antenna beam positioning mobile terminal according to the present invention;

FIG. 5 is a schematic diagram of positioning of an AOA using two antennas according to the present invention; FIG.

Figure 6 is a schematic view of an AOA reflected by an obstacle in the present invention;

7 is a schematic diagram of an environment in which a wireless access device of the present invention is configured by a sensor; FIG. 8 is a schematic flowchart of a second embodiment of a wireless access service method according to the present invention;

9 is a schematic flowchart of Embodiment 3 of a method for wireless access service according to the present invention;

10 is a schematic diagram of dividing a two-dimensional plane in which a wireless access device is located into a fixed area according to the present invention;

11 is a schematic flowchart of Embodiment 4 of a method for wireless access service according to the present invention;

FIG. 12 is a schematic structural diagram of Embodiment 1 of a wireless access service device according to the present invention;

13 is a schematic structural diagram of Embodiment 2 of a wireless access service device according to the present invention;

14 is a schematic structural diagram of Embodiment 3 of a wireless access service device according to the present invention;

15 is a schematic structural diagram of Embodiment 4 of a wireless access service device according to the present invention;

FIG. 16 is a schematic structural diagram of Embodiment 5 of a wireless access service device according to the present invention. The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. example. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope are the scope of the present invention. The wireless access device of the present invention has a self-moving function, and the main idea of the present invention is that when the quality of the wireless access link between the wireless access device and the mobile terminal cannot meet the communication quality requirement of the mobile terminal, the wireless access device The mobility improves the quality of the wireless access link between the wireless access device and the mobile terminal, thereby meeting the communication quality requirements of the mobile terminal for the communication quality of the mobile terminal.

The technical solutions of the present invention will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

Generally, a wireless access device accesses M mobile terminals, M≥l, and the above M mobile terminals access the Internet through the wireless access device. When M is equal to 1, as shown in FIG. 1, FIG. 1 is the present invention. The architecture diagram of system one, when M>1, as shown in FIG. 2, FIG. 2 is an architectural diagram of system 2 of the present invention, that is, multiple mobile terminals access the Internet through the same wireless access device.

3 is a schematic flowchart of a first embodiment of a method for wireless access service according to the present invention. As shown in FIG. 3, the executor of the embodiment is a wireless access device, and the wireless access device of the embodiment has a self-moving function. The application scenario of this embodiment is that the mobile terminal accessing the wireless access device has a specific mobile terminal, for example: the specific mobile terminal may be an important person of the operator (Very Important Person, below) Referred to as: VIP), operators generally consider prioritizing the communication quality requirements of this particular mobile terminal. For convenience of description, in the embodiment shown in FIG. 3, "the communication quality requirement of a single mobile terminal" refers to the communication quality requirement of the specific mobile terminal, and the "mobile terminal" refers to the specific mobile terminal instead of accessing the wireless. For all mobile terminals of the access device, the method of this embodiment is as follows:

S301: The wireless access device detects whether the quality of the first wireless access link meets the communication quality requirement of the single mobile terminal.

The first wireless access link is a wireless access link between the current location and the mobile terminal of the wireless access device.

The wireless access device can periodically broadcast its own presence, thereby ensuring that the mobile terminal accesses the wireless access device by wireless after discovering the wireless access device.

The quality of the first radio access link can be obtained by the following two methods, but not limited to the following two manners. In the first manner, the radio access device periodically detects and learns; specifically, the radio access device sets a timer of a certain period. Obtaining a quality characterizing the first wireless access link when the timer expires The parameter of the quantity, wherein the parameter that can be used to represent the quality of the first radio access link may be: Received Signal Strength Indication (RSI) information between the mobile terminal and the radio access device, The access rate of the mobile terminal user, the bandwidth information, or the service type of the mobile terminal, etc.; The second mode: The quality of the first radio access link can also be learned by the manner in which the mobile terminal periodically reports the parameters.

The communication quality requirement of a single mobile terminal may include at least one of the following: the RSSI strength is not lower than the RSSI threshold; or, the access rate is not lower than the access rate threshold; or, the access bandwidth is not lower than the access bandwidth threshold; The RSSI strength, the access rate, and the access bandwidth may be for the current service type, specifically: the RSSI under the current service type of the mobile terminal is not lower than the RSSI threshold required by the current service type, or the current The access rate of the service type is not lower than the access rate threshold required by the current service type, or the access bandwidth of the current service type of the mobile terminal is not lower than the access bandwidth threshold required by the current service type. .

The following is an example in which the communication quality requirement of the mobile terminal is not lower than the RSSI threshold. When the RSSI of the first radio access link detected by the radio access device is lower than the RSSI threshold, the first wireless is determined. The quality of the access link cannot meet the communication quality requirements of the mobile terminal. Other communication quality threshold settings are similar and will not be described here.

The foregoing timing detection or timing reports the quality of the first radio access link, and the radio access device can implement the timer locally. For example, if the radio access device locally sets a timer of 1 mm, the radio access device performs the interval. 1 minute will check whether the current wireless access link meets the communication quality requirements of the mobile terminal. The timer periodically triggers quality detection of the wireless access link whether the wireless access device is stationary or moving.

It should be noted that the timing detection or the timing report is only an implementation manner, and the present invention can also be detected in other manners according to actual needs, which is not limited by the present invention.

S302: When the wireless access device determines that the quality of the first wireless access link does not meet the communication quality requirement of the single mobile terminal, the wireless access device starts to move.

§ 卩 When the wireless access device is stationary, detecting that the first wireless access link does not meet the communication quality requirement of the single mobile terminal, triggering the wireless access device to start moving, detecting that the wireless access link meets the mobile terminal The communication quality requirements continue to maintain the current state.

S303: During the mobile device, the wireless access device detects whether the quality of the second wireless access link meets the communication quality requirement of the single mobile terminal. If yes, execute S304. If not, execute S305.

The second wireless access link is a wireless access link between the mobile access device and the mobile terminal.

S304: The wireless access device stops moving.

S305: The wireless access device continues to move.

In the process that the wireless access device continues to move, S303 is performed.

That is, when the wireless access device is in the process of moving, detecting that the second wireless access link meets the communication quality requirement of the single mobile terminal, the wireless access device stops moving, and detecting that the second wireless access link is not satisfied The wireless access device continues to move as the communication quality requirements of a single mobile terminal. The wireless access device detects whether the quality of the second wireless access link meets the communication quality requirement of the single mobile terminal during the mobile process, and the wireless access device sets the periodic detection timer when the timer expires. And detecting whether the quality of the second radio access link meets the communication quality requirement of the single mobile terminal, and the method is similar to the method for detecting whether the quality of the first radio access link meets the communication quality requirement of the single mobile terminal, This will not be repeated here.

S303 is performed in the process of the wireless access device continuing to move until the communication quality of the second wireless access link between the wireless access device and the mobile terminal can meet the communication quality requirement of the single mobile terminal, and the movement is stopped.

After the wireless access device determines that the wireless access device starts to move or continues to move to meet the communication quality requirements of the single mobile terminal, the target direction of the mobile is first acquired, and the wireless access device moves along the target direction.

Specifically, the implementation manner of determining the target direction includes, but is not limited to, the following manner. One implementation manner is that the wireless access device determines the target direction according to the parameters of the wireless access link, and the parameters of the wireless link mentioned above may be It is a parameter of the current time of the wireless link, and may be a parameter of the current time of the wireless access link and before the current time. The wireless access device mentioned above satisfies the communication quality requirement of the mobile terminal by starting to move or continue to move. The starting mobile refers to the original stationary state, and the quality of the wireless access link needs to be improved by the mobile; Continued movement means that it is already moving, but still needs to continue moving to improve the quality of the wireless access link. In both cases, you need to determine the target direction of the move. In this embodiment, the target direction in which the wireless access device moves for the first time is referred to as a first target direction, that is, a target direction determined in a process in which the state of the wireless access device changes from static to mobile; Device in the process of moving The target direction may be re-determined according to the detection result of the quality of the second wireless access link, and the re-determined target direction is referred to as the second target direction, that is, the target direction determined by the wireless access device during the moving process. The first target direction and the second target direction may be the same or different, but the method of determining the first target direction and the second target direction is the same, that is, according to wireless access between the wireless access device and the mobile terminal. Determining, by the parameter of the link, determining that the first target direction is determined according to a parameter of the first radio access link, determining that the second target direction is determined according to a parameter of the second radio access link.

The process of determining the first target direction is detailed below:

The first parameter: the wireless access device acquires parameters of the first wireless access link.

The parameter of the first radio access link may be a parameter of a signal transmitted on the first radio access link and/or a parameter of the antenna associated with the first radio access link and/or with a radio access chain. The location information of the mobile terminal, and the like, wherein the parameters of the signal transmitted on the first wireless access link include: strength, direction, delay, and time of arrival of the wireless signal (Time Of Arrival, hereinafter referred to as T0A) Angular Arrival (hereinafter referred to as A0A), etc.; parameters of the antenna associated with the first radio access link include: an antenna that transmits a signal through the first radio access link to access the antenna of the wireless device The direction of the beam; the location information of the mobile terminal associated with the first wireless access link includes the latitude and longitude position of the mobile terminal, and the like.

The parameter of the first radio access link is obtained by the radio access device, which may be the first radio access link parameter of the current moment of the current location, or may be the parameter of the first radio access link within a certain time range. For example: The parameters of the first wireless access link from a few minutes ago to the current time.

The wireless access device obtains the parameters of the first wireless access link, which may be obtained by means of active collection, or may be obtained by means of feedback from the mobile terminal. The present invention is not limited thereto.

Second: The wireless access device determines the first target direction according to the parameters of the first wireless access link. The invention includes, but is not limited to, the following ways of determining the first target direction:

The first implementation manner, the wireless access device acquires a direction of the mobile terminal relative to the wireless access device according to the parameter of the first wireless access link, and the wireless access device determines that the mobile terminal is opposite to the mobile terminal The direction of the wireless access device is the first target direction, where the direction may be determined according to the direction in the location information of the mobile terminal relative to the wireless access device, or according to the connection between the coordinates of the mobile terminal and the coordinates of the wireless access device determine. The present invention does not limit the method for obtaining the direction of the mobile terminal relative to the wireless access device. The second implementation manner is often applied to a scenario in which a wireless access device has a smart antenna. The directional antenna in the smart antenna is used as an example. The directional antenna refers to transmitting and receiving electromagnetic waves in a specific direction or a certain specific direction. An antenna that transmits and receives electromagnetic waves in other directions that are zero or very small. When a directional antenna is used to transmit a signal, the transmission area of the signal can be reduced from a circular shape to a sector shape, so that the direction of the mobile terminal relative to the wireless access device can be determined according to the direction of the antenna beam, thereby improving the positioning accuracy. A wireless access device with a directional antenna can combine the signal strength based method with the directional feature of the wireless signal, and then obtain the direction of the mobile terminal relative to the wireless access device according to the mapping between the wireless access device and the antenna beam direction. Thereby determining the first target direction, typically the first target direction is the direction of the mobile terminal relative to the wireless access device. As shown in Table 1, Table 1 is a mapping table of the beam of the wireless access device and the direction with respect to the wireless access device:

Table 1 is a mapping table of the beam of the wireless access device and the direction relative to the wireless access device.

For example, if the mobile terminal accesses the wireless network through the antenna beam 1 of the wireless access device, it can be determined that the mobile terminal is in the east direction relative to the wireless access device; if the mobile terminal passes the wireless access device antenna beam 2 When accessing the wireless network, it can be determined that the mobile terminal is in the 30° direction south of the wireless access device, that is, the direction in which the mobile terminal can access the wireless access device of the wireless network with respect to the direction of the wireless access device. Antenna beam determination. It can be understood that the wireless access device stores which beam the mobile terminal is currently accessing to the wireless network. For ease of understanding, the present invention also provides a schematic diagram of a directional antenna beam or a coverage sector locating mobile terminal. As shown in FIG. 4, FIG. 4 is a schematic diagram of a directional antenna beam locating mobile terminal according to the present invention, wherein each antenna beam corresponds to one direction. The more antenna beams, the smaller the sector corresponding to each antenna beam, and the more accurate the direction of positioning.

Of course, the first target direction can also be adjusted in combination with obstacle information in the actual environment. The second implementation manner is used to obtain the direction of the mobile terminal relative to the wireless access device, thereby determining the first target direction, which is easy to implement, saves overhead, and can be used for high-precision positioning in a wide range of indoors.

The third implementation is applicable to a scenario in which the wireless access device has multiple antenna arrays, but is not limited to such a scenario. The wireless access device determines that the mobile terminal is relatively wireless according to the angle of arrival of the two antennas in the antenna array from the mobile terminal. Accessing the direction of the device, and then the wireless access device determines that the direction of the mobile terminal relative to the wireless access device is the first target direction.

The following describes an example of determining the direction of a mobile terminal relative to a wireless access device.

Specifically, the direction of the mobile terminal relative to the wireless access device is determined according to the angle of arrival of the two antennas in the antenna array by the mobile terminal respectively. Because the scattering environment around the mobile terminal and the wireless access device is different in the wireless communication, the multi-antenna system is Antennas at different locations experience different fading, resulting in angular dispersion, ie, spatially selective fading. Therefore, with the introduction of smart antennas and multiple input multiple output multiple input multiple output (MIMO) systems, channel information is extended from original two-dimensional information (time, frequency) to three-dimensional information (time) , frequency, space), therefore, unlike single-antenna research, in the study of multiple antennas, indoor positioning can make full use of spatial angles such as AOA, Angle Of Departure (AOD) information. For Wireless Local Access Network (WLAN) systems, the configuration of multiple antenna arrays for wireless access devices has become more and more common, so it is possible to pass multiple antennas with AOA, TOA and Time Difference of Arrival (hereinafter referred to as Arrival). : TDOA) The parameter is used to locate the mobile terminal. The positioning algorithm based on TDOA technology can achieve better positioning accuracy under Gaussian noise environment. With the use of the smart antenna array in the base station, when the line-of-sight (LOS) environment between the wireless access device and the mobile terminal, the base station can measure a relatively accurate AOA value, and utilize the hybrid positioning method of TDOA and AOA to locate The accuracy is improved by using only the TDOA positioning method.

The positioning is performed by using an AOA with two antennas as an example. FIG. 5 is a schematic diagram of positioning of an AOA using two antennas according to the present invention. As shown in FIG. 5, three points of the antenna 1, the antenna 2, and the mobile terminal are respectively triangular. The three vertices of the line, the coordinates are ( ^χ ι, y , ( ^χ ₂ , ^ ), ( ^χ TM, ^ ), the antenna

The side length between 1 and the mobile terminal is the side length between the antenna 2 and the mobile terminal is ^, where ^ and ^ can determine the distance of the mobile terminal from the wireless access device according to the TOA. The coordinates of the mobile terminal ( ^χ TM, can be obtained according to the following two formulas:

For the third implementation manner, when the wireless access device detects multiple AOAs, which two AOAs are used for calculation, the environment information may be acquired through the sensor to determine which AOA is directly from the mobile terminal, which The AOA is reflected by the obstacle, and the reflection by the obstacle is as shown in FIG. 6. FIG. 6 is a schematic diagram of the AOA reflected by the obstacle in the present invention, and is accurately estimated by deleting the direction of the interfering AOA reflected by the obstacle. The direction of the mobile terminal relative to the wireless access device, thereby determining the first target direction. Generally, determining the direction of the mobile terminal relative to the wireless access device is the first target direction, and of course, adjusting the obstacle information in the actual environment. A target direction.

Similarly, TOA and TDOA, as well as the above-mentioned multiple statistical characteristics of wireless signals, can also be used to locate mobile terminals. The basic method is to solve the geometric equation positioning method based on parameters such as TOA, Direction Of Arrival (hereinafter referred to as DOA:), Received Signal Strength (RSS), or the position of the joint positioning mobile terminal of several parameters. The detailed solution process will not be described here.

Optionally, when the first target direction is determined according to the first radio access link parameter, the environment in which the wireless access device and the mobile terminal are located may be combined to determine a more accurate and feasible target direction. After the first target direction is determined according to the first wireless access link parameter, the first target direction is adjusted according to the environment in which the wireless access device and the mobile terminal are located, and the adjusted direction is used as the first A target direction. Gp, the wireless access device uses the sensor to perceive the wireless access device and the obstacle information in the environment in which the mobile terminal is located, and constructs the wireless access device and the mobile according to the obstacle information sensed by the sensor An environment in which the terminal is located; the wireless access device adjusts the first target direction according to an environment in which the wireless access device and the mobile terminal are located.

Specifically, after determining the direction of the mobile terminal relative to the wireless access device according to the first wireless access link parameter, if the wireless access device locally has a global detailed map of the environment in which the wireless access device and the mobile terminal are located (may also External input), you can directly sense according to your position Obstacle and the obstacle information identified on the map, according to the path planning principle such as the shortest distance, determine the target direction that needs to be moved.

If the wireless access device does not have a global detailed map of the environment in which the wireless access device and the mobile terminal are located, the environment in which the wireless access device and the mobile terminal are located may be acquired first. The wireless access device can construct the environment in which the wireless access device and the mobile terminal are located according to the obstacle information sensed by the sensor by using the sensor to sense the obstacle information in the environment in which the wireless access device and the mobile terminal are located. Specifically, the wireless access device extracts the centroid of the obstacle as a vertex on the plan according to the information of the sensor sensing the obstacle, and based on the Voronoi theory, constructs a Voronoi diagram of the general environment by using an approximate construction method. That is equivalent to simulating the environment between the wireless access device and the mobile terminal. As shown in FIG. 7, FIG. 7 is a schematic diagram of an environment in which a wireless access device of the present invention is configured by a sensor, and each circle in the figure is an obstacle perceived by a sensor of the wireless access device of the present invention.

Optionally, as described above, when the wireless access device moves, after the timer expires, it is detected that the quality of the second wireless access link does not meet the communication quality requirement of the mobile terminal, and then continues to move, and the mobile process continues. In the middle, it may be necessary to re-determine the target direction, that is, the second target direction.

Specifically, when the quality of the second radio access link does not meet the communication quality requirement of the single mobile terminal, the radio access device determines the second target direction according to the parameter of the second radio access link; The device moves in the second target direction;

The wireless access device determines the second target direction according to the parameter of the second wireless access link, and includes the following implementation manners:

a first type: the wireless access device acquires a direction of the mobile terminal relative to the wireless access device according to a parameter of the second wireless access link; the wireless access device determines that the mobile terminal is opposite to the wireless The direction of the access device is the second target direction.

The second type: the wireless access device determines the second target direction according to the direction in which the mobile terminal accesses the antenna beam of the wireless access device.

a third type: the wireless access device determines a direction of the mobile terminal relative to the wireless access device according to an angle of arrival of two antennas in the antenna array of the mobile terminal to the wireless access device; The wireless access device determines that the direction of the mobile terminal relative to the wireless access device is a second target direction.

After determining the second target direction, before the wireless access device continues to move, the wireless access device may also use the sensor to perceive the wireless access device and the environment in which the mobile terminal is located. The obstacle information, the environment in which the wireless access device and the mobile terminal are located according to the obstacle information sensed by the sensor; the wireless access device according to the wireless access device and the mobile terminal The environment at the location adjusts the second target direction.

For the method for determining the second target direction, the method for determining the first target direction may be referred to, and details are not described herein again.

It should be noted that, when the quality of the second radio access link does not meet the communication quality requirement of the mobile terminal, whether the target direction of the mobile needs to be re-determined during the wireless access device continues to move, gp, is continued to press The first target direction continues to move, or a second target direction is determined to move in the second target direction. And determining, by the wireless access device, whether the number of times that the second detection result is worse than the previous detection result is greater than or equal to a threshold value, and if yes, The wireless access device determines a second target direction according to the parameter of the second wireless access link; if not, the wireless access device continues to move along the first target direction.

In the embodiment of the present invention, the wireless access device determines whether the quality of the first wireless access link meets the communication quality requirement of the single mobile terminal, and if the wireless access device determines that the quality of the first wireless access link does not satisfy the single mobile terminal. The communication quality requirement, the wireless access device starts to move from the current location, and during the mobile process, it can detect whether the second wireless link satisfies the communication quality requirement of the single mobile terminal, and if so, stops the mobile, if not, continues Mobile, that is, the quality of the wireless access link is improved by the movement of the wireless access device to meet the communication quality requirements of a single mobile terminal.

FIG. 8 is a schematic flowchart of a second embodiment of a method for wireless access service according to the present invention. As shown in FIG. 8, the executor of the embodiment is a wireless access device, and the wireless access device in this embodiment has a self-moving function. The method of this embodiment is implemented by a robot as follows:

S801: The wireless access device detects whether the quality of the first group of wireless access links meets the communication quality requirement of the mobile terminal set.

The first set of radio access links includes R first radio access links, and the first radio access link is between the current location and any one of the R mobile terminals. a wireless access link, wherein the R mobile terminals are R mobile terminals having communication quality requirements among M mobile terminals accessing the wireless access device, M≥l, 1≤R≤M, that is, The mobile terminal accessing the wireless access device may have some or all of the communication quality. The embodiment of the present invention considers only mobile terminals having communication quality requirements. For example, a mobile terminal having communication quality requirements may be some VIPs of an operator, and an operator generally considers preferentially satisfying a mobile terminal having communication quality requirements. Specifically, the following scenarios may be included, where the first scenario is R>1, and when 1>1, two cases are included, and one is M>R. For example, there are 100 mobile terminals accessing the wireless access device. (M=100), wherein there are 80 mobile terminals with communication quality requirements (R=80), and the other is R=M. For example, there are 100 mobile terminals accessing the wireless access device (M=100). ) , and 100 of them have communication quality requirements (R=100). The second scenario is R=l. When R=l, there are two cases, one is M=l, that is, the mobile terminal accessing the wireless access device is one (R=l), and the mobile terminal has The communication quality requirement (R=l), the other is M>1, for example: There are 100 mobile terminals accessing the wireless access device (M=100), and only one mobile terminal with communication quality requirements (R) =l ). Embodiments of the present invention only consider mobile terminals having communication quality requirements. Therefore, the embodiments of the present invention refer to the total number of mobile terminals accessing the wireless access device when describing R>1 and R=1, respectively. No restrictions.

The communication quality requirement of the mobile terminal set is that each of the predetermined number or the total number of terminals in the R mobile terminals satisfies the communication quality requirement of the single mobile terminal, for example, R=100, and the predetermined number is greater than 80, then 100 If more than 80 mobile terminals in the mobile terminal meet the communication quality requirements of the single mobile terminal, the quality of the first set of wireless access links is considered to meet the communication quality requirements of the mobile terminal set; wherein, the communication quality requirements of the single mobile terminal may include At least one of the following: the RSSI strength is not lower than the RSSI threshold, the access rate is not lower than the access rate threshold, the access bandwidth is not lower than the access bandwidth threshold, or the current service type and the minimum link quality requirement, etc. . For the case that only one of the mobile terminals accessing the wireless access device has a communication quality requirement, that is, the case of R=l, if the first group of wireless access links meets the communication quality requirement of a single mobile terminal, the first can be determined. The group radio access link satisfies the communication quality requirements of the set of mobile terminals.

For a mobile terminal accessing a wireless access device having multiple communication quality requirements, ie

In the case of R>i, the communication quality requirement of the mobile terminal set is that the ratio of the number of R and the R satisfying the communication quality requirement of the single mobile terminal among the R mobile terminals is greater than a preset value. It can also be understood that the ratio of the number of the first radio access links satisfying the communication quality requirement of the single mobile terminal in the R first radio access links to the R is greater than a preset value, for example, R=10, then There are 10 first wireless access links in a group of wireless access links, assuming that 5 first wireless access links respectively satisfy 5 single mobile terminals Communication quality requirement, assuming that the preset value is 80%, in this case, the number of first wireless access links in the 10 first wireless access links that satisfy the communication quality requirement of a single mobile terminal ( 5) The ratio of R(10) is 50%, which is less than the preset value, and it is determined that the quality of the first group of radio access links does not satisfy the communication quality requirement of the set of mobile terminals. Determining that the first group of radio access links meets the mobile if the ratio of the number of the first radio access links and the R of the ten first radio access links that satisfy the communication quality requirement of the single mobile terminal is greater than 80%. The communication quality requirements of the terminal set. It should be noted that, determining whether the first radio access link satisfies the communication quality requirement process of the single mobile terminal, and determining whether the quality of the first group of radio access links meets the set of the mobile terminal in the case of R=l The communication quality requirements are the same, that is, the communication quality requirements of a single mobile terminal are the same as the communication quality requirements of the mobile terminal set in the case of R=l.

The radio access device can learn the quality of the first group of radio access links by using the timing detection; specifically, it can be completed by periodically acquiring parameters that characterize the quality of the first group of radio access links, where, for R=l In the case where the first set of radio access links are the same as the first radio access link, the parameters that can be used to characterize the quality of the first set of radio access links can be: RSSI between the mobile terminal and the radio access device Information, access rate of the mobile terminal user, bandwidth information, or service type of the mobile terminal; for the case of R>1, the first set of radio access links includes R first radio access links, which are used to characterize The parameter of the quality of a set of radio access links may be a ratio, which is the ratio of the number of the first radio access links satisfying the communication quality of the mobile terminal in the R first radio access links to the R ratio. .

The quality of the R first radio access link between the radio access device and the R mobile terminals can also be obtained by periodically reporting the parameters of the mobile terminal. When R=l, the quality of the first radio access link. That is, the quality of the first group of radio access links, when 1 > 1, the radio access device determines the quality of the first group of radio access links according to the quality of the R first radio access links, that is, determines The ratio of the number of the first radio access links satisfying the communication quality of the mobile terminal to the R in the first radio access link of the R is the quality of the first group of radio access links.

The R=l, the communication quality requirement of the mobile terminal is an example that the RSSI strength is not lower than the RSSI threshold. When the RSSI of the first group of radio access links detected by the radio access device is lower than the RSSI threshold, it is determined. The quality of the first set of wireless access links does not meet the communication quality requirements of the set of mobile terminals. When the communication quality requirement of the mobile terminal set is multiple, if the radio access device detects that the quality of the first group of radio access links does not meet any one of the requirements, determining that the quality of the first group of radio access links is not Meet the communication quality requirements of the mobile terminal set.

It should be noted that the timing detection is only an implementation manner, and the present invention may also be detected in other manners according to actual needs, which is not limited by the present invention.

S802: When the wireless access device determines that the quality of the first group of wireless access links does not meet the communication quality requirement of the mobile terminal set, the wireless access device moves from the current location to the target location.

The quality of the second group of radio access links meets the communication quality requirements of the set of mobile terminals when the radio access device moves to the target location, where the second group of radio access links includes R second radio accesses. Link, the second wireless access link is a wireless access link of the wireless access device between the target location and any of the mobile terminals of the R mobile terminals.

The first implementation manner is that when the quality of the first group of wireless access links does not meet the communication quality requirements of the mobile terminal, the wireless access device is triggered to move from the current location to the target location.

The second implementation manner is: when the quality of the first group of radio access links does not meet the communication quality requirement of the mobile terminal set, the quality of the first group of radio access links in the historical period is learned, according to the historical time period. The quality of the first set of wireless access links and the current detection result determine whether the wireless access device is triggered to move. That is, before the wireless access device moves from the current location to the target location, the method further includes: determining, by the wireless access device, whether the quality of the first group of wireless access links meets the communication quality requirement of the mobile terminal set in the first N times. Where N is an integer greater than or equal to 1, and the wireless access device moves from the current location to the target location only when the quality of the first set of wireless access links does not satisfy the communication quality requirement of the mobile terminal set in the first N times. This avoids unnecessary movement of the wireless access device.

For the second implementation manner, for example, it is assumed that the quality of the first group of radio access links in the first N times is always satisfied with the communication quality requirement of the mobile terminal set, and the first group of radio access is detected for the first time. The quality of the link does not meet the factors and conditions. It may be because the wireless access device directly passes the obstacle with the mobile terminal, or the source of the interference causes the quality of the first group of wireless access links to decrease. After that, or after the interference source is removed, the quality of the first set of wireless access links is restored, that is, in this case, the first set of wireless access chains The quality of the road only drops in a short time, and there is no need for the wireless access device to move, so that unnecessary movement of the wireless access device can be avoided. It is assumed that the quality of the first set of radio access links does not satisfy the communication quality requirement of the mobile terminal set in the first N times, and the quality of the currently detected first group of radio access links still does not satisfy the mobile terminal. The aggregated communication quality requirements, in this case, satisfy the communication quality requirements of the mobile terminal set by way of the wireless access device moving from the current location to the target location.

After the wireless access device determines that the wireless access device needs to be moved by the wireless access device to meet the communication quality requirement of the mobile terminal set, the first acquisition target location is obtained, and one implementation manner is that the wireless access device performs the first wireless access according to the R The parameters of the link determine the target location. Then, plan the path that the wireless access device moves from the current location to the destination location.

First, the process of getting the target location is detailed below:

The first parameter: the radio access device acquires location information of the R mobile terminals relative to the radio access device according to the parameters of the R first radio access link.

The parameter of the first radio access link includes a parameter of a signal transmitted on the first radio access link and a parameter of an antenna associated with the first radio access link, where the first radio access link is The parameters of the transmitted signal include: strength, direction, delay, TOA, AOA, etc. of the wireless signal, and parameters of the antenna associated with the first wireless access link include: a mobile terminal transmitting a signal through the first wireless access link The direction of the beam of the antenna that is connected to the wireless device. When there are multiple radio links, the parameters further include the distribution of the characteristics of the RSSI, the direction of the radio wave, and the distance between the two ends of the communication according to the characteristics of the strength, direction, and delay of the wireless signal. Statistics, can be used for location estimation and so on.

The location information refers to the direction and/or distance of the mobile terminal relative to the wireless access device, that is, the location information of the mobile terminal relative to the wireless access device may be determined according to the direction and/or distance of the mobile terminal relative to the wireless access device, of course. The location information may also be coordinate information of the mobile terminal.

The method for determining the location information of each mobile terminal relative to the wireless access device in the R mobile terminals is the same. Here, the method for determining the location information of one mobile terminal relative to the wireless access device is taken as an example for detailed description. The method for determining location information of other mobile terminals relative to the wireless access device is similar, and details are not described herein again.

The present invention includes, but is not limited to, the following two ways of determining the location of a mobile terminal relative to a wireless access device: The first implementation manner is often applied to a scenario where a wireless access device has a smart antenna. The directional antenna in the smart antenna is used as an example. The directional antenna refers to transmitting and receiving electromagnetic waves in a certain direction or a certain specific direction. An antenna that transmits and receives electromagnetic waves in other directions that are zero or very small. When a directional antenna is used to transmit a signal, the transmission area of the signal can be reduced from a circular shape to a sector shape, so that the direction of the mobile terminal relative to the wireless access device can be determined according to the direction of the antenna beam, thereby improving the positioning accuracy. A wireless access device with a directional antenna can combine the signal strength based method with the directional feature of the wireless signal, and then obtain the direction of the mobile terminal relative to the wireless access device according to the mapping between the wireless access device and the antenna beam direction. As shown in Table 1, Table 1 is shown in Table 1 in the embodiment shown in Figure 3, and is not drawn here. Taking Table 1 as an example, if the mobile terminal accesses the wireless network through the antenna beam 1 of the wireless access device, it can be determined that the mobile terminal is in the east direction relative to the wireless access device; if the mobile terminal passes the wireless access device antenna beam 2 accessing the wireless network, it can be determined that the mobile terminal is in the direction of 30° from the east of the wireless access device, that is, the wireless access device through which the mobile terminal can access the wireless network with respect to the direction of the wireless access device The antenna beam is determined. It can be understood that the wireless access device stores which beam the mobile terminal is currently accessing to the wireless network. For ease of understanding, the present invention also provides a schematic diagram of a directional antenna beam or a coverage sector locating mobile terminal. As shown in FIG. 4, FIG. 4 is a schematic diagram of a directional antenna beam locating mobile terminal according to the present invention, wherein each antenna beam corresponds to one direction. The more antenna beams, the smaller the sector corresponding to each antenna beam, and the more accurate the direction of positioning.

The wireless access device receives the signal through the directional antenna, and the wireless access device receives the signals through the wireless access device to estimate the distance from the mobile terminal to the wireless access device, thereby acquiring the location information of the mobile terminal, for example: the wireless access device The distance of the mobile terminal relative to the wireless access device can be determined based on the time of arrival TOA.

The first implementation manner is used to obtain the location information of the mobile terminal relative to the wireless access device, which is easy to implement, saves overhead, and can be used for high-precision positioning in a wide range of indoors.

The second implementation is applicable to a scenario in which the wireless access device has multiple antenna arrays, but is not limited to such a scenario. The wireless access device determines R according to the arrival angles of the R antennas to the two antennas in the antenna array. The direction and distance of the mobile terminals relative to the wireless access device.

The method for determining the direction and distance of a mobile terminal relative to the wireless access device is described below. The method for determining the direction and distance of the other mobile terminal relative to the wireless access device is similar, and details are not described herein. Specifically, the direction and distance of the mobile terminal relative to the wireless access device are determined according to the angle of arrival of the two antennas in the antenna array by the mobile terminal respectively, and the multiple antennas are different due to different scattering environments around the mobile terminal and the wireless access device in the wireless communication. Antennas at different locations in the system experience different fading, resulting in angular dispersion, ie, spatially selective fading. Therefore, with the introduction of smart antennas and multi-input MIMO systems, channel information is extended from the original two-dimensional information (time, frequency) to three-dimensional information (time, frequency, space). Therefore, unlike the study of single antenna, In the study of multiple antennas, indoor positioning can make full use of spatial angle information such as AOA, AOD. For the WLAN system, the multi-antenna array configuration of the wireless access device has become more and more common, so the positioning of the mobile terminal can be performed through the multi-antenna AOA, TOA and TDOA parameters. The positioning algorithm based on TDOA technology can achieve better positioning accuracy under Gaussian noise environment. With the use of the smart antenna array in the base station, when the line-of-sight (LOS) environment between the wireless access device and the mobile terminal, the base station can measure a relatively accurate AOA value, and utilize the hybrid positioning method of TDOA and AOA to locate The accuracy is improved by using only the TDOA positioning method.

The side length between 1 and the mobile terminal is i, and the side length between the antenna 2 and the mobile terminal is ^, wherein the sum can determine the distance of the mobile terminal from the wireless access device according to the TOA. The coordinates of the mobile terminal ( ^χ TM can be obtained according to the formula (1 ) and the formula ( 2 ) in the embodiment shown in FIG. 3: For the second implementation manner, when the wireless access device detects multiple defects, the specific Which two ΑΟΑ are used for calculation, the environmental information can be obtained through the sensor to determine which ΑΟΑ is directly from the mobile terminal, which 反射 is reflected by the obstacle, and the reflection by the obstacle is as shown in FIG. 6 . Fig. 6 is a schematic view of a crucible reflected by an obstacle in the present invention, and the position of the user is accurately estimated by deleting the direction of the interference 反射 reflected by the obstacle.

Similarly, it is also possible to use ΤΟΑ and TDOA, as well as the above-mentioned multiple statistical features of wireless signals to perform mobile terminal positioning. The basic approach is to solve the geometric equation positioning method based on parameters such as TOA, DOA, and received signal strength (RSS) or to jointly locate the position of the mobile terminal with several parameters. The detailed solution process will not be described here.

Second: The wireless access device determines the target location according to the location information of the R mobile terminals relative to the wireless access device. Optionally, when determining the target location according to the location information of the R mobile terminals relative to the wireless access device, a more accurate and feasible target location may be determined in combination with the environment in which the wireless access device and the R mobile terminals are located. After determining the target location according to the location information of the R mobile terminals with respect to the wireless access device, the target location may be adjusted according to the environment in which the wireless access device and the R mobile terminals are located, to obtain the adjusted target location.

Specifically, after determining the location information of the R mobile terminals relative to the wireless access device, if the wireless access device locally has a global detailed map of the environment in which the wireless access device and the R mobile terminals are located (may also be externally input), Then, according to the position, the perceived obstacle and the obstacle information identified on the map, and the path planning principle according to the shortest distance, the target position to be moved can be determined, and the target position can be specifically determined by direction, coordinates, time and speed. Information identification.

If the wireless access device does not have a global detailed map of the environment in which the wireless access device and the R mobile terminals are located, the environment in which the wireless access device and the R mobile terminals are located may be obtained first. The wireless access device can use the sensor to sense the obstacle information in the environment where the wireless access device and the R mobile terminals are located, and construct the environment in which the wireless access device and the R mobile terminals are located according to the obstacle information sensed by the sensor. Specifically, the wireless access device extracts the centroid of the obstacle as a vertex on the plan view according to the information of the sensor sensing the obstacle, and constructs a Voron map of the general environment by using an approximate construction method based on the Voronoi theory. That is equivalent to simulating the environment between the wireless access device and the mobile terminal. As shown in FIG. 7, FIG. 7 is an environment in which the wireless access device of the present invention is configured by a sensor, and each circle in the figure is an obstacle perceived by the sensor of the wireless access device of the present invention.

Optionally, if the computing capability of the wireless access device supports, after the local analog wireless access device moves to the target location, whether the second set of wireless access links can meet the communication quality requirement of the mobile terminal set, if the simulation The result is that after the wireless access device moves to the target location, the second group of wireless access links can meet the communication quality requirement of the mobile terminal set, and the wireless access device triggers the wireless access device to perform the move to the target location. If not, the wireless access device re-plans the target location.

Then, the following describes the path of planning the wireless access device to move from the current location to the target location:

After determining the target location, a collision-free path network of wireless access device motion is formed by connecting the current location and the target location of the wireless access device to the Voronoi diagram. Approximate an obstacle into a particle Then the probability that the wireless access device will hit the obstacle along the Voronoi side of the environmental obstacle is minimal. Or, the path information of the current location to the target location is planned by other means, and the path information may be the coordinates of a point of the target location, or the direction of an angle identifier, or multiple consecutive points between the current location and the target location. Coordinates, or the continuous movement time in a certain direction, and the speed of movement. In simple terms, path planning can only plan the location or direction of the next point where the wireless access device moves, and how the wireless access device moves the path without planning. When the wireless access device locates the spatial position of the mobile terminal by using the above multiple mobile terminal positioning mechanisms, it is P r, Θ ), that is, at a distance _r in the Θ direction of the local coordinates of the wireless access device. The above coordinates are two-dimensional coordinates. In a planar mechanical device, such as a wheel-driven access point device, it is not necessary to perform coordinate conversion further, and the information can be directly used for the next processing. When it is necessary to convert into a position in a three-dimensional space, information such as the height of the wireless access device can be converted into a coordinate P' ( _X ', y', _Z ':> identifiable by the mechanical control unit, and the converted target position will be Placed in the local map currently stored by the wireless access device, the map contains environmental information sensed by the sensor module, such as obstacle information.

The planned path information (ie, the target location information) can be expressed as follows:

1. Direction: T1 (α), that is, moving along the α direction which is the far point of the coordinate system of the wireless access device;

2. Direction + distance mode: Tl ( a, L ), that is, the distance L is translated along the α direction of the coordinate system whose origin is the current position of the wireless access device.

3. Direction + time: Tl (a, t), that is, move the t time along the α direction of the coordinate system whose coordinate position is the coordinate system of the current position of the wireless access device.

4. Direction + speed + time mode: T2 (α, ν, t), that is, the wireless access device translates the time t in the coordinate system of the coordinate system originating from the current position of the wireless access device as the coordinate system origin. After stopping; here, because there is speed planning information, in addition to obtaining the location information of the mobile terminal, a more change rule of the location is needed to predict the speed of the wireless access device moving;

5. Target position mode: T3 (X, y, z), that is, the wireless access device moves to the space coordinate

After the point of (X, y, z) stops moving.

6. A continuous path composed of multiple points: It may be a combination of the above various methods, or may be a certain method. The difference is that the continuous path contains information of a plurality of moving points.

After the path information is planned, after the wireless access device moves to the target location according to the path information, the wireless access device receives the quality and shift of the second group of wireless access links fed back by the wireless access device. As a result of the comparison of the quality of the first set of wireless access links before the move, the wireless access device determines the target location of the next move based on the comparison result and the parameters of the second wireless access link. Gp, after the wireless access wireless access device moves to the target location, it compares whether the mobile wireless access link meets the communication quality requirement of the mobile terminal set, and if yes, feedbacks the successful feedback information of the planning, if not, The feedback information of the failed planning feedback is provided for the wireless access device to enter a planning path.

In the embodiment of the present invention, the wireless access device detects whether the quality of the first group of wireless access links meets the communication quality requirement of the mobile terminal set, and if the wireless access device determines that the quality of the first group of wireless access links does not satisfy the mobile The communication quality requirement of the terminal set, the wireless access device moves from the current location to the target location, so that the second set of wireless access links after the mobile meets the communication quality requirement of the mobile terminal set, that is, the mobility of the wireless access device is improved. The quality of the wireless access link to meet the communication quality requirements of the set of mobile terminals.

FIG. 9 is a schematic flowchart of Embodiment 3 of a method for wireless access service according to the present invention. This embodiment is directed to the scenario shown in FIG. 1 , that is, only one mobile terminal accessing a wireless access device has communication quality requirements. In the case of R=1, as shown in FIG. 9, the method in this embodiment includes: S901: The radio access device detects whether the quality of the first group of radio access links meets the communication quality requirement of the single mobile terminal.

This step is similar to step S801 of the embodiment shown in FIG. 8, and details are not described herein again.

S902: When the radio access device determines that the quality of the first group of radio access links does not meet the communication quality requirement of the single mobile terminal, the radio access device determines the direction of the strongest received signal by moving the first distance in different directions. The direction of the mobile terminal relative to the wireless access device.

As shown in FIG. 10, FIG. 10 is a schematic diagram of dividing a two-dimensional plane in which a wireless access device is located into a fixed area according to the present invention. The wireless access device divides the two-dimensional plane in which it is located into eight fixed areas, that is, divided into eight. In the direction, the wireless access device compares the access signal strength in each direction by moving the first distance (usually very short) in different directions, and determines that the direction of the strongest access signal is the direction of the mobile terminal relative to the wireless access device.

S903: The wireless access device determines the distance of the mobile terminal from the wireless access device according to the TOA. That is, the length of the path of the signal transmission, that is, the distance between the wireless access device and the mobile terminal, is obtained according to the propagation rate of the signal and the time.

S904: The wireless access device determines the target location by combining the direction and distance of the mobile terminal with respect to the wireless access device. For details, refer to the detailed description of the embodiment shown in FIG. 8 , and details are not described herein again.

The wireless access device moves from the current location to the target location.

The movement is carried out according to the principle of mechanical motion, and the present invention will not be described in detail.

Optionally, after the wireless access device moves to the target location, the effect of the path planning (the second set of wireless access link qualities between the target location and the mobile terminal of the wireless access device) may also be fed back. So that the wireless access device determines the target location of the next move according to the feedback effect.

In this embodiment, the wireless access device has only one scenario with communication quality requirements, and the wireless access device attempts to move in different directions, and the method for determining the mobile terminal relative to the wireless access device according to the strength of the received signal, and then according to the TOA, etc. The method determines the distance of the mobile terminal from the wireless access device, and further determines the target location in combination with the direction and distance of the mobile terminal relative to the wireless access device.

FIG. 11 is a schematic flowchart of Embodiment 4 of a method for wireless access service according to the present invention. The executor of the embodiment shown in FIG. 11 is a remote control center. As shown in FIG. 11, the method in this embodiment is as follows: S1101: Remote Control The center detects whether the quality of the first set of wireless access links meets the communication quality requirements of the set of mobile terminals.

The first group of radio access links includes R first radio access links, and the first radio access link is a wireless access device from any of the current locations to any of the R mobile terminals. The wireless access link, wherein the R mobile terminals are R mobile terminals among the M mobile terminals accessing the wireless access device, M≥l, \<R≤M.

For details, refer to S801. The difference is that the S801 is the wireless access device. The remote control center is the same as the remote control center. The functions are the same and will not be described here.

S1102: When the remote control center determines that the quality of the first group of radio access links does not meet the communication quality requirement of the mobile terminal set, the remote control center triggers the wireless access device to move from the current location to the target location.

When the wireless access device moves to the target location, the quality of the second set of wireless access links meets the communication quality requirement of the mobile terminal set, where the second set of wireless access links includes R and second a wireless access link, where the second wireless access link is a wireless access link between the target location and any one of the R mobile terminals.

For details, refer to the S802. The difference is that the S802 is the wireless access device. The remote control center is the same as the remote control center. The functions are the same and will not be described here. In the embodiment of the present invention, the remote control center determines whether the quality of the first group of radio access links meets the communication quality requirement of the mobile terminal set, and if the remote control center determines that the quality of the first group of radio access links does not satisfy the mobile The communication quality requirement of the terminal set, the remote control center starts to move the wireless access device from the current location to the target location, so that the second set of wireless access links after the mobile meets the communication quality requirement of the mobile terminal set, that is, through the wireless connection The movement of the incoming device improves the quality of the wireless access link to meet the communication quality requirements of the set of mobile terminals.

FIG. 12 is a schematic structural diagram of Embodiment 1 of a wireless access service device according to the present invention. As shown in FIG. 12, the device in this embodiment includes a communication module, a mobile control module, a mechanical mobility module, a positioning module, a storage module, and an operating system. Operating System, hereinafter referred to as: OS) module, battery module, sensor module and processor module, the structure of the embodiment shown in FIG. 12 is a superior structure, wherein the communication module, the mobile control module, and the mechanical movement module are the present invention In addition to the modules that the wireless access device must have, the other modules are optional modules.

The functions of the modules in the embodiment shown in Fig. 12 are described in detail below:

The communication module provides a wireless communication method such as a wireless cellular, WLAN, and the like, and includes a wireless communication management unit, a wireless cellular unit, a WLAN communication unit, and other communication units, wherein the wireless communication management unit performs the mobile terminal accessing the wireless access device. Management (Access Management), which manages the backhaul link that forwards the traffic of the wireless access device to the Internet (backhaul management). The access management is a wireless communication method, and the backhaul management can be wireless or wired (if it is wired, there is no need for excessive management functions). The wireless cellular unit provides communication mode for the wireless cellular, the WLAN communication unit provides WLAN communication, and other communication units provide other communication methods.

The positioning module includes: a GPS positioning unit and a location management unit, wherein the GPS positioning unit is configured to acquire the location information of the wireless access device; and the location management unit is configured to acquire and manage the location of the mobile terminal accessing the wireless access device. Information; The information of the positioning module can assist the mobile control module and the mechanical movement module to make control judgments and path planning.

An OS module, an operating system module, that manages hardware and software resources of a wireless access device, such as managing and configuring memory, memory, prioritizing system resource supply and demand, controlling input and output devices, operating network, and managing file systems, etc. Basic affairs. The operating system also provides an operator interface that allows the user to interact with the system. The types of operating systems are very diverse, and the operating systems installed on different devices can range from simple to complex, ranging from mobile embedded systems to large operating systems for supercomputers. Xu Many operating system manufacturers do not agree on the scope of its coverage. For example, some operating systems integrate a graphical user interface (GUI), while others use only a command-line interface (command-line interface, below). Abbreviation: CLI), and the GUI is considered a non-essential application.

A battery module that provides power to other modules of the wireless access device.

A processor module that processes instructions, performs operations, controls time, and processes data. The Central Processing Unit (CPU) processor fetches instructions from the memory or cache, places them in the instruction registers, and decodes the instructions. It breaks up the instructions into a series of micro-ops, then issues various control commands to execute the micro-operation series to complete the execution of an instruction. An instruction is a basic command that performs the type and operation of an operation. An instruction consists of one byte or multiple bytes, including an opcode field, one or more fields related to the operand address, and some status words and signatures that characterize the state of the machine. Some instructions also directly contain the operand itself.

A storage module, a component, device, and computer system that holds data and provides the appropriate data as required by the operation. Essentially, the storage system allows information to continue over time without fading, and the wireless access device's storage system allows digital information to be maintained in the medium, providing timely access when needed.

The mobile control module, including the wireless link monitoring unit, is configured to analyze the state of the access user and/or the backhaul communication link/network, and combines preset threshold parameters to determine whether to trigger the mechanical movement module to perform position adjustment, so as to better Meet user needs. The wireless link monitoring unit will eventually generate a preliminary control command that is transmitted to the mechanical movement module to trigger the working process of the mechanical movement module. It also includes a path planning unit and a motion control unit, a path planning unit (planning a single point, the two-point distance from the current position to the target position is also a path. Not necessarily a line) and the motion control unit is the command center of the wireless access device Responsible for processing the operation instructions, internal and external environmental information, and making decisions according to the predetermined ontology model, environment model and control program, generating corresponding control signals, driving the components of the actuator unit by the drive system unit, in a determined order , trajectory, velocity, and acceleration motion, complete the specified task. The general requirement for the wireless access control system is to implement the control functions for the position, speed, acceleration, etc. of the wireless access device. The wireless access device for continuous trajectory motion must also have the trajectory planning and control functions. The two units accept the control commands issued by the radio link monitoring unit, and in the path planning unit, the plan party that plans the next target moving point Style. The goal of the path planning is to find a collision-free, fastest improvement for the wireless access device according to the wireless access link parameters between the mobile terminal and the wireless access device and the communication quality requirements of the mobile terminal set, and the surrounding environmental information. The path of wireless access communication quality, its main contents include: target positioning, motion modeling, environment modeling and path search.

The mechanical movement module is the main component of the access point to achieve free movement. Includes drive system, actuator unit and servo feedback system. The actuator unit may be a moving vehicle, an aircraft, a wall climbing device having a strong suction capability, or the like. The actuator unit is the main body of the mechanical movement module of the wireless access device and can be constructed of links, movable joints and other components for performing tasks. Usually, its action is directly controlled by the wireless access device controller (motion control + drive system). The actuator receives the drive of the drive system. Common drive units include servo motors, split motors, cylinders and hydraulic cylinders, as well as new drives. They are controlled by the controller of the motion control module. The servo feedback unit performs an evaluation feedback on the result of the wireless access device moving to the target position to guide the subsequent motion path planning unit to perform the next path planning and motion control unit for motion control.

The sensor module has a detection and sensing function for the external environment. It can include various types of sensors such as temperature sensor, camera, and obstacle sensing (3D sensor) to achieve the functions of this unit.

FIG. 13 is a schematic structural diagram of Embodiment 2 of a wireless access service device according to the present invention. As shown in FIG. 13, FIG. 13 is different from the embodiment shown in FIG. 12, and the mobile control module of the embodiment shown in FIG. 13 is remotely controlled. The remote access control center performs path planning by transmitting the wireless link information to the remote control center, and the remote control center sends a location movement control command to the wireless access device, and the functions of each module in FIG. The same as that shown in FIG. 12, and details are not described herein again.

FIG. 14 is a schematic structural diagram of Embodiment 3 of a wireless access service device according to the present invention. The wireless access service device is a wireless access device. As shown in FIG. 14, the wireless access device in this embodiment includes a first detection module 1401. The first control module 1401, the second detection module 1403, and the second control module 1404, wherein the first detection module 1401 and the second detection module 1403 can be the same detection module, the first control module 1402 and the second control module 1404. The first control module 1401 is configured to detect whether the quality of the first wireless access link meets the communication quality requirement of the single mobile terminal, where the first wireless access link is the wireless access device at the current location. a wireless access link with the mobile terminal; the first control module 1402 is configured to: when the wireless access device determines that the quality of the first wireless access link does not satisfy the communication quality of the single mobile terminal When required, control the The wireless access device starts to move; the second detecting module 1403 is configured to detect, during the moving process, whether the quality of the second wireless access link meets the communication quality requirement of the single mobile terminal, The second wireless access link is a wireless access link between the mobile access device and the mobile terminal, and the second control module 1404 is configured to be used by the second wireless access link. Controlling the wireless access device to stop moving when the quality meets the communication quality requirement of the single mobile terminal; when the quality of the second wireless access link does not meet the communication quality requirement of the single mobile terminal, the control station The wireless access device continues to move.

In the above embodiment, the second detecting module 1403 is specifically configured to: when the wireless access device moves, set a periodic detection timer, and when the timer expires, start detecting the second wireless access link. Whether the quality meets the communication quality requirements of a single mobile terminal.

In the above embodiment, the first control module 1402 is specifically configured to: when the first detecting module determines that the quality of the first radio access link does not meet the communication quality requirement of the single mobile terminal, The wireless access device determines a first target direction according to the parameter of the first wireless access link, and the wireless access device starts to move along the first target direction.

In the foregoing embodiment, the first control module 1402 is specifically configured to control, by the wireless access device, the direction of the mobile terminal relative to the wireless access device according to the parameter of the first wireless access link. The wireless access device determines that the direction of the mobile terminal relative to the wireless access device is a first target direction.

In the foregoing embodiment, the first control module 1402 is specifically configured to control the wireless access device to determine a first target direction according to a direction in which the mobile terminal accesses an antenna beam of the wireless access device.

In the foregoing embodiment, the first control module 1402 is specifically configured to control the wireless access device to determine the mobile according to an angle of arrival of two antennas in the antenna array of the mobile terminal to the wireless access device. a direction of the terminal relative to the wireless access device; the wireless access device determines a direction of the mobile terminal relative to the wireless access device as a first target direction.

In the above embodiment, the second control module 1404 is specifically configured to control the wireless access device to determine a second target direction according to parameters of the second wireless access link; Moving in the second target direction;

In the above embodiment, the second control module 1404 is specifically configured to control the wireless access device to acquire the mobile terminal relative to the wireless access device according to the parameter of the second wireless access link. The wireless access device determines that the direction of the mobile terminal relative to the wireless access device is a second target direction.

In the above embodiment, the second control module 1404 is specifically configured to control the wireless access device to determine the second target direction according to a direction in which the mobile terminal accesses an antenna beam of the wireless access device.

In the foregoing embodiment, the second control module 1404 is specifically configured to control the wireless access device to determine the mobile according to an angle of arrival of two antennas in the antenna array of the mobile terminal to the wireless access device. a direction of the terminal relative to the wireless access device; the wireless access device determines a direction of the mobile terminal relative to the wireless access device as a second target direction.

In the above embodiment, the second control module 1404 is further configured by the second detecting module to determine the quality result of detecting the second wireless access link by the last N times, and the last detection result is more than the previous detection. Whether the number of times of the difference is greater than or equal to the threshold, if yes, the wireless access device determines the second target direction according to the parameter of the second wireless access link; if not, the wireless access device along the first The target direction continues to move.

In the foregoing embodiment, the first control module 1402 is further configured to control, by the wireless access device, a sensor to sense obstacle information in an environment in which the wireless access device and the mobile terminal are located, according to the The sensor-aware obstacle information constructs an environment in which the wireless access device and the mobile terminal are located; the wireless access device adjusts the first according to an environment in which the wireless access device and the mobile terminal are located Target direction.

In the foregoing embodiment, the second control module 1404 is further configured to control, by the wireless access device, a sensor to sense obstacle information in an environment in which the wireless access device and the mobile terminal are located, according to the The sensor-aware obstacle information constructs an environment in which the wireless access device and the mobile terminal are located; the wireless access device adjusts the second according to an environment in which the wireless access device and the mobile terminal are located Target direction.

The device in this embodiment is similar to the technical solution in the embodiment of the method shown in FIG. 3, and the implementation principle and technical effects are similar, and details are not described herein again.

15 is a schematic structural diagram of Embodiment 4 of a wireless access service device according to the present invention. The wireless access service device is a wireless access device, and the wireless access device includes a detection module 1501 and a control module 1502, where the detection module 1501 A method for detecting whether a quality of the first group of radio access links meets a communication quality requirement of the mobile terminal set, where the first group of radio access links includes R first radio connections In the inbound link, the first radio access link is a radio access link between the current location and any one of the R mobile terminals of the radio access device, where the R mobile terminals are R mobile terminals of the M mobile terminals accessing the wireless access device, M≥l, 1 <R≤; the control module 1502 is configured to: when the detecting module determines the first group of wireless access links The quality does not meet the communication quality requirements of the mobile terminal set, the wireless access device moves from the current location to the target location, and the quality of the second set of wireless access links when the wireless access device moves to the target location Satisfying the communication quality requirement of the set of mobile terminals, where the second set of radio access links includes R second radio access links, and the second radio access link is a radio access device at a target Location to a wireless access link between any of the R mobile terminals.

In the foregoing embodiment, the method further includes: a path planning module, configured to determine, according to parameters of the R first wireless access links, before the control module triggers the wireless access device to move from the current location to the target location The target location.

In the foregoing embodiment, the path planning module is specifically configured to acquire, according to the parameters of the R first radio access links, location information of the R mobile terminals respectively relative to the wireless access device; The R mobile terminals determine the target location with respect to location information of the wireless access device.

In the foregoing embodiment, the path planning module is specifically configured to determine, according to a direction in which the R mobile terminals access the antenna beams of the wireless access device, respectively, that the R mobile terminals are respectively opposite to the wireless access device. And determining a distance of the R mobile terminals from the wireless access device according to the arrival time TOA; determining location information of the R mobile terminals relative to the wireless access device according to the direction and the distance.

In the foregoing embodiment, the path planning module is specifically configured to determine, according to the arrival angles of the two antennas of the R mobile terminals to the antennas in the antenna array, the R mobile terminals are respectively opposite to the wireless access device. Direction and distance.

In the above embodiment, the control module is specifically configured to determine whether the quality of the first group of radio access links meets the communication quality requirement of the mobile terminal set in the last N times, wherein the N is An integer greater than or equal to 1; when the most recent first N times detecting that the quality of the first group of radio access links does not satisfy the communication quality requirement of the set of mobile terminals, controlling the wireless access device from the current The position moves to the target position.

In the above embodiment, the path planning module is further configured to use the first wireless connection according to the R strips. After determining the target location of the inbound link, adjusting the target location according to an environment in which the wireless access device and the R mobile terminals are located, to obtain an adjusted target location;

In the above embodiment, the path planning module is further configured to: adjust the target location according to an environment in which the wireless access device and the R mobile terminals are located, and use sensor sensing before obtaining the adjusted target location. Obstructing information in the environment in which the wireless access device and the R mobile terminals are located, constructing an environment in which the wireless access device and the R mobile terminals are located according to the obstacle information perceived by the sensor .

In the foregoing embodiment, the path planning module is further configured to: after triggering the wireless access device to move from the current location to the target location, receive the quality of the second set of wireless access links fed back by the wireless access device a comparison result of quality of the first group of radio access links; determining a target location of the next move according to the comparison result and parameters of the second radio access link.

In the foregoing embodiment, the control module is further configured to: after the path planning module determines the target location according to the parameters of the R first wireless access links, verify the wireless access device locally Whether the second group of radio access links meets the communication quality requirement of the set of mobile terminals after moving to the target location; the control module is specifically configured to determine that the local simulation result is the second group of radio connections When the inbound link meets the communication quality requirement of the set of mobile terminals, the wireless access device is triggered to move from the current location to the target location.

The device in this embodiment can perform the technical solution of the method embodiment shown in FIG. 8 correspondingly, and the implementation principle and the technical effect are similar, and details are not described herein again.

FIG. 16 is a schematic structural diagram of Embodiment 5 of a wireless access service device according to the present invention. The wireless access service device is a remote control center, and the remote control center in this embodiment includes a detection module 1601 and a control module 1602, where The module 1601 is configured to detect whether the quality of the first group of radio access links meets the communication quality requirement of the mobile terminal set, where the first group of radio access links includes R first radio access links, where the first The wireless access link is a wireless access link between the current location and any one of the R mobile terminals of the wireless access device, where the R mobile terminals access the wireless access device The R mobile terminals of the M mobile terminals, M≥l, l≤R≤M. The control module 1602 is configured to determine that the quality of the first group of radio access links does not meet the communication quality requirement of the mobile terminal set. The remote control center triggers the wireless access device to be When the wireless access device moves to the target location, the quality of the second set of wireless access links meets the communication quality requirement of the mobile terminal set, where the second group of wireless The access link includes R second wireless access links, and the second wireless access link is a wireless connection between the target location and any one of the R mobile terminals. Into the link.

The device in this embodiment can perform the technical solution of the method embodiment shown in FIG. 9 correspondingly, and the implementation principle and the technical effect are similar, and details are not described herein again.

One of ordinary skill in the art will appreciate that all or a portion of the steps of implementing the various method embodiments described above can be accomplished by hardware associated with the program instructions. The aforementioned program can be stored in a computer readable storage medium. The program, when executed, performs the steps including the above-described method embodiments; and the foregoing storage medium includes: a medium that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

Finally, it should be noted that the above embodiments are only for explaining the technical solutions of the present invention, and are not intended to be limiting thereof; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

claims

1. A wireless access service method, characterized by including:

The wireless access device detects whether the quality of the first wireless access link meets the communication quality requirements of a single mobile terminal. The first wireless access link is between the current location of the wireless access device and the mobile terminal. wireless access link;

When the wireless access device determines that the quality of the first wireless access link does not meet the communication quality requirements of the single mobile terminal, the wireless access device starts to move;

During the movement of the wireless access device, the wireless access device detects whether the quality of the second wireless access link meets the communication quality requirements of the single mobile terminal, and the second wireless access link is the The wireless access link between the moved position of the wireless access device and the mobile terminal;

When the quality of the second wireless access link meets the communication quality requirements of the single mobile terminal, the wireless access device stops moving;

When the quality of the second wireless access link does not meet the communication quality requirements of the single mobile terminal, the wireless access device continues to move.

2. The method according to claim 1, characterized in that, the communication quality requirement of the single mobile terminal is that the received signal strength indicator RSSI of the mobile terminal is not lower than the RSSI threshold; or, the access of the mobile terminal The rate is not lower than the access rate threshold; or, the access bandwidth of the mobile terminal is not lower than the access bandwidth threshold.

3. The method according to claim 2, characterized in that the communication quality requirement of the single mobile terminal is that the received signal strength indication RSSI of the mobile terminal is not lower than the RSSI threshold, including:

The access rate of the mobile terminal is not lower than the access rate threshold, including:

The access rate of the mobile terminal under the current service type is not lower than the access rate threshold required by the current service type;

The access bandwidth of the mobile terminal is not lower than the access bandwidth threshold, including:

The access bandwidth of the mobile terminal under the current service type is not lower than the access bandwidth threshold required by the current service type.

4. The method according to claim 1, characterized in that, during the movement of the wireless access device, the wireless access device detects whether the quality of the second wireless access link meets the requirements of the single mobile terminal. Communication quality requirements, including:

During the movement of the wireless access device, the wireless access device sets a periodic detection timer. When the timer expires, it starts to detect whether the quality of the second wireless access link meets the communication quality of a single mobile terminal. need.

5. The method according to any one of claims 1 to 4, characterized in that, when the wireless access device determines that the quality of the first wireless access link does not meet the communication requirements of the single mobile terminal, When quality requirements are met, the wireless access device starts to move, including:

When the wireless access device determines that the quality of the first wireless access link does not meet the communication quality requirements of the single mobile terminal, the wireless access device determines according to the parameters of the first wireless access link A first target direction is determined, and the wireless access device starts moving along the first target direction.

6. The method according to claim 5, wherein the wireless access device determines the first target direction according to parameters of the first wireless access link, including:

The wireless access device obtains the direction of the mobile terminal relative to the wireless access device according to the parameters of the first wireless access link;

The wireless access device determines the direction of the mobile terminal relative to the wireless access device as the first target direction.

7. The method according to claim 5, wherein the wireless access device determines the first target direction according to parameters of the first wireless access link, including:

The wireless access device determines the first target direction according to the direction of the antenna beam of the mobile terminal accessing the wireless access device.

8. The method according to claim 5, wherein the wireless access device determines the first target direction according to parameters of the first wireless access link, including:

The wireless access device determines the direction of the mobile terminal relative to the wireless access device based on the angle of arrival of the mobile terminal to two antennas in the antenna array of the wireless access device;

9. The method according to claim 1, characterized in that, when the quality of the second wireless access link does not meet the communication quality requirements of a single mobile terminal, the wireless access device continues to move, including Includes:

The wireless access device determines a second target direction according to parameters of the second wireless access link;

The wireless access device moves along the second target direction.

10. The method according to claim 9, characterized in that the wireless access device determines the second target direction according to the parameters of the second wireless access link, including:

The wireless access device obtains the direction of the mobile terminal relative to the wireless access device according to the parameters of the second wireless access link;

The wireless access device determines the direction of the mobile terminal relative to the wireless access device as the second target direction.

11. The method according to claim 9, wherein the wireless access device determines the second target direction according to the parameters of the second wireless access link, including:

The wireless access device determines the second target direction according to the direction of the antenna beam of the mobile terminal accessing the wireless access device.

12. The method according to claim 9, characterized in that the wireless access device determines the second target direction according to the parameters of the second wireless access link, including:

13. The method according to claim 9, characterized in that, before the wireless access device determines the second target direction according to the parameters of the second wireless access link, it further includes:

The wireless access device determines whether among the most recent N quality results of testing the second wireless access link, the number of times the last detection result is worse than the previous detection result is greater than or equal to a threshold. If so, the wireless access device The device determines the second target direction according to the parameters of the second wireless access link; if not, the wireless access device continues to move along the first target direction.

14. The method according to any one of claims 5 to 8, characterized in that, after the wireless access device determines the first target direction according to the parameters of the first wireless access link, the wireless access device Before the device starts moving in the first target direction, it also includes:

The wireless access device uses sensors to sense the wireless access device and the mobile terminal. Obstacle information in the environment where the wireless access device and the mobile terminal are located are constructed according to the obstacle information sensed by the sensor;

The wireless access device adjusts the first target direction according to the environment where the wireless access device and the mobile terminal are located.

15. The method according to any one of claims 9 to 13, characterized in that, after the wireless access device determines the second target direction according to the parameters of the second wireless access link, the wireless access device Before the device moves along the second target direction, it also includes:

The wireless access device uses a sensor to sense obstacle information in the environment where the wireless access device and the mobile terminal are located, and constructs the wireless access device and the mobile terminal based on the obstacle information sensed by the sensor. The environment in which the terminal is located;

The wireless access device adjusts the second target direction according to the environment where the wireless access device and the mobile terminal are located.

16. A wireless access service method, characterized by including:

The wireless access device detects whether the quality of the first group of wireless access links meets the communication quality requirements of the mobile terminal set. The first group of wireless access links includes R first wireless access links, and the first group The wireless access link is a wireless access link between the current location of the wireless access device and any one of the R mobile terminals, where the R mobile terminals are for accessing the wireless access link. R mobile terminals among the M mobile terminals entering the device, M≥l, \ < R≤M;

When the wireless access device determines that the quality of the first group of wireless access links does not meet the communication quality requirements of the mobile terminal set, the wireless access device moves from the current location to the target location, and the wireless access device When moving to the target location, the quality of the second group of wireless access links meets the communication quality requirements of the mobile terminal set, wherein the second group of wireless access links includes R second wireless access links. The second wireless access link is a wireless access link between the wireless access device at the target location and any one of the R mobile terminals.

17. The method according to claim 16, wherein the communication quality requirement of the set of mobile terminals is that each terminal of a predetermined number or all of the R mobile terminals satisfies the communication of a single mobile terminal. Quality requirements, wherein the communication quality requirement of a single mobile terminal is that the received signal strength indicator RSSI of the mobile terminal is not lower than the RSSI threshold, or the access rate of the mobile terminal is not lower than the access rate threshold, or , the access bandwidth of the mobile terminal is not lower than the access bandwidth threshold.

18. The method according to claim 16 or 17, characterized in that, before the wireless access device moves from the current location to the target location, it also includes:

The wireless access device determines the target location based on parameters of the R first wireless access links.

19. The method according to claim 18, wherein the wireless access device determines the target location based on parameters of the R first wireless access links, including:

The wireless access device obtains the location information of the R mobile terminals relative to the wireless access device according to the parameters of the R first wireless access links;

The wireless access device determines the target location based on the position information of the R mobile terminals relative to the wireless access device.

20. The method according to claim 19, characterized in that, the wireless access device obtains the parameters of the R mobile terminals relative to the wireless access device according to the parameters of the R first wireless access links. location information, including:

The wireless access device determines the directions of the R mobile terminals relative to the wireless access device according to the directions of the antenna beams of the R mobile terminals respectively accessing the wireless access device; the wireless access device The device determines the distances of the R mobile terminals relative to the wireless access device according to the arrival time TOA;

The wireless access device determines the location information of the R mobile terminals relative to the wireless access device based on the direction and distance.

21. The method according to claim 19, characterized in that, the wireless access device obtains the parameters of the R mobile terminals relative to the wireless access device according to the parameters of the R first wireless access links. location information, including:

The wireless access device determines the directions and distances of the R mobile terminals relative to the wireless access device based on the angles of arrival of the R mobile terminals to two antennas in the antenna array.

22. The method according to any one of claims 16 to 21, characterized in that, when the wireless access device determines that the quality of the first group of wireless access links does not meet the communication quality requirements of the mobile terminal set, The wireless access device moves from the current location to the target location, including:

The wireless access device determines whether the quality of the first group of wireless access links tested for the most recent N times meets the communication quality requirements of the mobile terminal set, where N is greater than or equal to 1 an integer;

When the quality of the first group of wireless access links detected in the most recent N times does not meet the communication quality requirements of the mobile terminal set, the wireless access device triggers the wireless access device to start from the current The position moves to the target position.

23. The method according to any one of claims 18 to 22, characterized in that, after the wireless access device determines the target location according to the parameters of the R first wireless access links, it further includes:

The wireless access device adjusts the target position according to the environment where the wireless access device and the R mobile terminals are located, and obtains the adjusted target position;

The wireless access device moves from the current location to the adjusted target location.

24. The method according to claim 23, characterized in that, the wireless access device adjusts the target position according to the environment where the wireless access device and the R mobile terminals are located, and obtains the adjusted target. Before position, also includes:

The wireless access device uses a sensor to sense obstacle information in the environment where the wireless access device and the R mobile terminals are located, and constructs the wireless access device and the wireless access device according to the obstacle information sensed by the sensor. Describe the environment in which R mobile terminals are located.

25. The method according to any one of claims 16 to 22, characterized in that, after the wireless access device moves from the current position to the target position, it further includes:

The wireless access device receives a comparison result of the quality of the second group of wireless access links and the quality of the first group of wireless access links fed back by the wireless access device;

The wireless access device determines the target location of the next move based on the comparison result and the parameters of the second wireless access link.

26. The method according to any one of claims 18 to 22, characterized in that, after the wireless access device determines the target location according to the parameters of the R first wireless access links, it further includes:

The wireless access device performs a local simulation to verify whether the second group of wireless access links meets the communication quality requirements of the mobile terminal set after the wireless access device moves to the target location; The wireless access device determines that the quality of the first group of wireless access links does not meet the communication quality requirements of the mobile terminal set, and the wireless access device moves from the current location to the target location, include:

When the wireless access device determines that the local simulation result is that the second group of wireless access links meets the communication quality requirements of the mobile terminal set, the wireless access device moves from the current location to the target location.

27. A wireless access service method, characterized by including:

The remote control center detects whether the quality of the first group of wireless access links meets the communication quality requirements of the mobile terminal set. The first group of wireless access links includes R first wireless access links, and the first group of wireless access links includes R first wireless access links. The wireless access link is a wireless access link between the wireless access device at the current location and any one of the R mobile terminals, where the R mobile terminals are accessed by the wireless access device. R mobile terminals among the M mobile terminals, M≥l, \ < R≤M;

When the remote control center determines that the quality of the first group of wireless access links does not meet the communication quality requirements of the mobile terminal set, the remote control center triggers the wireless access device to move from the current location to the target location. , when the wireless access device moves to the target location, the quality of the second group of wireless access links meets the communication quality requirements of the mobile terminal set, wherein the second group of wireless access links includes R and a second wireless access link, where the second wireless access link is a wireless access link between the wireless access device at the target location and any one of the R mobile terminals.

28. A wireless access service device, characterized in that the wireless access service device is a wireless access device, including:

The first detection module is used to detect whether the quality of the first wireless access link meets the communication quality requirements of a single mobile terminal. The first wireless access link is the connection between the wireless access device and the mobile terminal at the current location. Wireless access links between terminals;

A first control module configured to control the wireless access device to start moving when the wireless access device determines that the quality of the first wireless access link does not meet the communication quality requirements of the single mobile terminal;

The second detection module is used to detect whether the quality of the second wireless access link meets the communication quality requirements of the single mobile terminal during the movement of the wireless access device, and the second wireless access link is A wireless access link between the moved position of the wireless access device and the mobile terminal;

A second control module, configured to control the single mobile phone when the quality of the second wireless access link meets the When the communication quality requirements of the terminal are met, the wireless access device is controlled to stop moving; when the quality of the second wireless access link does not meet the communication quality requirements of the single mobile terminal, the wireless access device is controlled to continue move.

29. The device according to claim 28, characterized in that the second detection module is specifically used to set a periodic detection timer during the movement of the wireless access device, and when the timer expires, start Detect whether the quality of the second wireless access link meets the communication quality requirements of a single mobile terminal.

30. The device according to claim 28 or 29, characterized in that, the first control module is specifically configured to when the first detection module determines that the quality of the first wireless access link does not meet the single When the communication quality of the mobile terminal is required, the wireless access device determines a first target direction according to the parameters of the first wireless access link, and the wireless access device starts moving along the first target direction.

31. The device according to claim 30, wherein the first control module is specifically configured to control the wireless access device to obtain the relative information of the mobile terminal according to the parameters of the first wireless access link. The direction of the wireless access device; the wireless access device determines the direction of the mobile terminal relative to the wireless access device as the first target direction.

32. The device according to claim 30, wherein the first control module is specifically configured to control the wireless access device to determine the direction of the antenna beam of the mobile terminal accessing the wireless access device. The first target direction.

33. The device according to claim 30, characterized in that, the first control module is specifically configured to control the wireless access device to two of the antenna arrays of the wireless access device according to the mobile terminal. The angle of arrival of the antenna determines the direction of the mobile terminal relative to the wireless access device; and the wireless access device determines the direction of the mobile terminal relative to the wireless access device as the first target direction.

34. The device according to claim 28, wherein the second control module is specifically configured to control the wireless access device to determine the second target direction according to parameters of the second wireless access link; The wireless access device moves along the second target direction.

35. The device according to claim 34, wherein the second control module is specifically configured to control the wireless access device to obtain the relative information of the mobile terminal according to the parameters of the second wireless access link. the direction of the wireless access device; the wireless access device determines the phase of the mobile terminal The direction to the wireless access device is the second target direction.

36. The device according to claim 34, wherein the second control module is specifically configured to control the wireless access device to determine the direction of the antenna beam of the mobile terminal accessing the wireless access device. the second target direction.

37. The device according to claim 34, wherein the second control module is specifically configured to control the wireless access device to two of the antenna arrays of the wireless access device according to the mobile terminal. The angle of arrival of the antenna determines the direction of the mobile terminal relative to the wireless access device; and the wireless access device determines the direction of the mobile terminal relative to the wireless access device as the second target direction.

38. The device according to claim 34, wherein the second control module is also used in the second detection module to determine the quality results of the most recent N times of detection of the second wireless access link, Whether the number of times that the last detection result is worse than the previous detection result is greater than or equal to the threshold value. If so, the wireless access device determines the second target direction according to the parameters of the second wireless access link; if not, the wireless access device determines the second target direction. The input device continues to move along the first target direction.

39. The device according to any one of claims 30 to 33, characterized in that the first control module is also used to control the wireless access device to use sensors to sense the wireless access device and the mobile terminal. The obstacle information in the environment where the wireless access device is located constructs the environment where the wireless access device and the mobile terminal are located based on the obstacle information sensed by the sensor; The environment in which the mobile terminal is located adjusts the first target direction.

40. The device according to any one of claims 34 to 38, characterized in that the second control module is also used to control the wireless access device to use sensors to sense the wireless access device and the mobile terminal. The obstacle information in the environment where the wireless access device is located constructs the environment where the wireless access device and the mobile terminal are located based on the obstacle information sensed by the sensor; The environment where the mobile terminal is located adjusts the second target direction.

41. A wireless access service device. The wireless access service device is a wireless access device, which is characterized by including:

A detection module, configured to detect whether the quality of the first group of wireless access links meets the communication quality requirements of the mobile terminal set. The first group of wireless access links includes R first wireless access links, and the first group of wireless access links includes R first wireless access links. A wireless access link is a wireless access link between the wireless access device at its current location and any one of R mobile terminals, where the R mobile terminals are accessing the wireless R mobile terminals among the M mobile terminals accessing the device, M≥l, 1<R≤M; a control module, used when the detection module determines that the quality of the first group of wireless access links does not meet The communication quality requirements of the mobile terminal set, the wireless access device moves from the current location to the target location, and when the wireless access device moves to the target location, the quality of the second group of wireless access links meets the mobile Communication quality requirements for a set of terminals, wherein the second group of wireless access links includes R second wireless access links, and the second wireless access links are wireless access devices at the target location to the A wireless access link between any of the R mobile terminals.

42. The device according to claim 41, further comprising: a path planning module, configured for the control module to trigger the wireless access device to move from the current location to the target location according to Article R of Parameters of a radio access link determine the target location.

43. The device according to claim 42, characterized in that, the path planning module is specifically configured to obtain the relative positions of the R mobile terminals relative to the wireless access links according to parameters of the R first wireless access links. Enter the location information of the device;

The target location is determined based on the location information of the R mobile terminals relative to the wireless access device.

44. The device according to claim 43, wherein the path planning module is specifically configured to determine the R mobile terminals according to the directions of the antenna beams of the R mobile terminals respectively accessing the wireless access device. The directions of the terminals relative to the wireless access device respectively; determining the distances of the R mobile terminals relative to the wireless access device according to the arrival time TOA; determining the relative distances of the R mobile terminals relative to the wireless access device according to the directions and distances. Access device location information.

45. The device according to claim 43, wherein the path planning module is specifically configured to determine the R mobile terminals according to their angles of arrival to two antennas in the antenna array. The direction and distance of the terminal relative to the wireless access device respectively.

46. The device according to any one of claims 41 to 45, characterized in that the control module is specifically configured to determine whether the quality of the first group of wireless access links in the most recent N times of detection meets the requirements. Communication quality requirements of a set of mobile terminals, where N is an integer greater than or equal to 1; When the quality of the first group of wireless access links detected in the most recent N times does not meet the communication requirements of the set of mobile terminals When quality requirements are met, the wireless access device is controlled to move from the current location to the target location.

47. The device according to any one of claims 42 to 46, characterized in that the path plan a planning module, further configured to adjust the target position according to the environment in which the wireless access device and the R mobile terminals are located after determining the target position according to the parameters of the R first wireless access links. , get the adjusted target position;

The control module is specifically configured to trigger the wireless access device to move from the current position to the adjusted target position.

48. The device according to claim 47, wherein the path planning module is further configured to adjust the target position according to the environment where the wireless access device and the R mobile terminals are located, to obtain the adjustment Before the final target position, a sensor is used to sense the obstacle information in the environment where the wireless access device and the R mobile terminals are located, and the wireless access device and the R mobile terminals are constructed according to the obstacle information sensed by the sensor. Describe the environment in which R mobile terminals are located.

49. The device according to any one of claims 41 to 46, characterized in that the path planning module is also used to trigger the wireless access device to move from the current position to the target position, and receive the wireless access device. The comparison result of the quality of the second group of wireless access links fed back by the device and the quality of the first group of wireless access links; Determine the next move based on the comparison result and the parameters of the second wireless access link target location.

50. The device according to any one of claims 42 to 46, characterized in that the control module is further configured to determine the path planning module according to the parameters of the R first wireless access links. After the target location, local simulation verifies whether the second group of wireless access links meets the communication quality requirements of the mobile terminal set after the wireless access device moves to the target location; The control module specifically uses When it is determined that the local simulation result is that the second group of wireless access links meets the communication quality requirements of the mobile terminal set, the wireless access device is triggered to move from the current location to the target location.

51. A wireless access service device, the wireless access service device is a remote control center, characterized by including:

A detection module, configured to detect whether the quality of the first group of wireless access links meets the communication quality requirements of the mobile terminal set. The first group of wireless access links includes R first wireless access links, and the first group of wireless access links includes R first wireless access links. A wireless access link is a wireless access link between the wireless access device at its current location and any one of R mobile terminals, where the R mobile terminals are accessing the wireless access link. R mobile terminals among the M mobile terminals of the device, M≥l, \ < R≤M;

A control module configured to determine that the quality of the first group of wireless access links does not meet the requirements of the mobile terminal set. According to the communication quality requirements, the remote control center triggers the wireless access device to move from the current position to the target position. When the wireless access device moves to the target position, the second group of wireless access links The quality meets the communication quality requirements of the mobile terminal set, wherein the second group of wireless access links includes R second wireless access links, and the second wireless access links are wireless access devices in A wireless access link between the target location and any one of the R mobile terminals.